187 citations · 603 across the 24 of their papers we have counts for
9 papers · 1 filter
Data-driven Nonlinear Predictive Control for Feedback Linearizable Systems
Mohammad Alsalti, Victor G. Lopez, Julian Berberich +2
We present a data-driven nonlinear predictive control approach for the class of discrete-time multi-input multi-output feedback linearizable nonlinear systems. The scheme uses a no…
Distributed MPC for Self-Organized Cooperation of Multiagent Systems -- Extended Version
Matthias Köhler, Matthias A. Müller, Frank Allgöwer
We present a sequential distributed model predictive control (MPC) scheme for cooperative control of multi-agent systems with dynamically decoupled heterogeneous nonlinear agents s…
Robust Data-Driven Moving Horizon Estimation for Linear Discrete-Time Systems
Tobias M. Wolff, Victor G. Lopez, Matthias A. Müller
In this paper, a robust data-driven moving horizon estimation (MHE) scheme for linear time-invariant discrete-time systems is introduced. The scheme solely relies on offline collec…
Stability in data-driven MPC: an inherent robustness perspective
Julian Berberich, Johannes Köhler, Matthias A. Müller +1
Data-driven model predictive control (DD-MPC) based on Willems' Fundamental Lemma has received much attention in recent years, allowing to control systems directly based on an impl…
Online convex optimization for data-driven control of dynamical systems
Marko Nonhoff, Matthias A. Müller
We propose an algorithm based on online convex optimization for controlling discrete-time linear dynamical systems. The algorithm is data-driven, i.e., does not require a model of…
Practical exponential stability of a robust data-driven nonlinear predictive control scheme
Mohammad Alsalti, Victor G. Lopez, Julian Berberich +2
We provide theoretical guarantees for recursive feasibility and practical exponential stability of the closed-loop system of a feedback linearizable nonlinear system when controlle…
Data-based Control of Feedback Linearizable Systems
Mohammad Alsalti, Victor G. Lopez, Julian Berberich +2
We present an extension of Willems' Fundamental Lemma to the class of multi-input multi-output discrete-time feedback linearizable nonlinear systems, thus providing a data-based re…
A simple suboptimal moving horizon estimation scheme with guaranteed robust stability
Julian D. Schiller, Boyang Wu, Matthias A. Müller
We propose a suboptimal moving horizon estimation (MHE) scheme for a general class of nonlinear systems. To this end, we consider an MHE formulation that optimizes over the traject…
Data-driven distributed MPC of dynamically coupled linear systems
Matthias Köhler, Julian Berberich, Matthias A. Müller +1
In this paper, we present a data-driven distributed model predictive control (MPC) scheme to stabilise the origin of dynamically coupled discrete-time linear systems subject to dec…