3 papers
eess.SY2025
Gauss-Newton accelerated MPPI Control
Hannes Homburger, Katrin Baumgärtner, Moritz Diehl +1
Model Predictive Path Integral (MPPI) control is a sampling-based optimization method that has recently attracted attention, particularly in the robotics and reinforcement learning…
math.OC2025
Differentiable Nonlinear Model Predictive Control
Jonathan Frey, Katrin Baumgärtner, Gianluca Frison +5
The efficient computation of parametric solution sensitivities is a key challenge in the integration of learning-enhanced methods with nonlinear model predictive control (MPC), as…
eess.SY2025
Incorporating a Deep Neural Network into Moving Horizon Estimation for Embedded Thermal Torque Derating of an Electric Machine
Alexander Winkler, Pranav Shah, Katrin Baumgärtner +3
This study presents a novel state estimation approach integrating Deep Neural Networks (DNNs) into Moving Horizon Estimation (MHE). This is a shift from using traditional physics-b…