3 papers
math.OC2026
Anytime Plug-and-Play Control with Contract-Based Distributed MPC
Sabrina Bodmer, Danilo Saccani, Melanie N. Zeilinger +1
A central challenge in many mobile multi-robot applications is that communication topologies are inherently time-varying. Agents may enter or exit the network and such changes cann…
math.OC2023
Homothetic tube model predictive control with multi-step predictors
Danilo Saccani, Giancarlo Ferrari-Trecate, Melanie N. Zeilinger +1
We present a robust model predictive control (MPC) framework for linear systems facing bounded parametric uncertainty and bounded disturbances. Our approach deviates from standard…
eess.SY2023
Model Predictive Control for Multi-Agent Systems under Limited Communication and Time-Varying Network Topology
Danilo Saccani, Lorenzo Fagiano, Melanie N. Zeilinger +1
In control system networks, reconfiguration of the controller when agents are leaving or joining the network is still an open challenge, in particular when operation constraints th…