8 papers
Beyond Asymptotics: Targeted exploration with finite-sample guarantees
Janani Venkatasubramanian, Johannes Köhler, Frank Allgöwer
In this paper, we introduce a targeted exploration strategy for the non-asymptotic, finite-time case. The proposed strategy is applicable to uncertain linear time-invariant systems…
Robust targeted exploration for systems with non-stochastic disturbances
Janani Venkatasubramanian, Johannes Köhler, Mark Cannon +1
We propose a novel targeted exploration strategy designed specifically for uncertain linear time-invariant systems with energy-bounded disturbances, i.e., without any assumptions o…
Approximate non-linear model predictive control with safety-augmented neural networks
Henrik Hose, Johannes Köhler, Melanie N. Zeilinger +1
Model predictive control (MPC) achieves stability and constraint satisfaction for general nonlinear systems, but requires computationally expensive online optimization. This paper…
Output-feedback model predictive control under dynamic uncertainties using integral quadratic constraints
Lukas Schwenkel, Johannes Köhler, Matthias A. Müller +1
In this work, we propose an output-feedback tube-based model predictive control (MPC) scheme for linear systems under dynamic uncertainties that are described via integral quadrati…
Robust Nonlinear Optimal Control via System Level Synthesis
Antoine P. Leeman, Johannes Köhler, Andrea Zanelli +2
This paper addresses the problem of finite horizon constrained robust optimal control for nonlinear systems subject to norm-bounded disturbances. To this end, the underlying uncert…
Multi-objective robust controller synthesis with integral quadratic constraints in discrete-time
Lukas Schwenkel, Johannes Köhler, Matthias A. Müller +2
This article presents a novel framework for the robust controller synthesis problem in discrete-time systems using dynamic Integral Quadratic Constraints (IQCs). We present an algo…