3 papers
eess.SY2026
Distributed Model Predictive Control for Dynamic Cooperation of Multi-Agent Systems
Matthias Köhler, Matthias A. Müller, Frank Allgöwer
We propose a distributed model predictive control (MPC) framework for coordinating heterogeneous, nonlinear multi-agent systems under individual and coupling constraints. The coope…
eess.SY2025
Transient performance of MPC for tracking without terminal constraints
Nadine Ehmann, Matthias Köhler, Frank Allgöwer
Model predictive control (MPC) for tracking is a recently introduced approach, which extends standard MPC formulations by incorporating an artificial reference as an additional opt…
eess.SY2024
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…