5 papers
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…
Robust Control of Constrained Linear Systems using Online Convex Optimization and a Reference Governor
Marko Nonhoff, Mohammad Taher Al Torshan, Matthias A. Müller
This article develops a control method for linear time-invariant systems subject to time-varying and a priori unknown cost functions, that satisfies state and input constraints, an…
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…
Online convex optimization for constrained control of nonlinear systems
Marko Nonhoff, Johannes Köhler, Matthias A. Müller
This paper proposes a modular approach that combines the online convex optimization framework and reference governors to solve a constrained control problem featuring time-varying…
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…