258 citations · 2.4k across the 118 of their papers we have counts for
96 papers · 1 filter
Learning and Control Beyond Linearity: Towards a Non-asymptotic Theory for Bilinear Systems
Yahya Sattar, Yassir Jedra, Robin Strässer +3
This tutorial provides a unified view of the emerging area of bilinear learning and control. Using linear systems as a benchmark, it explains what fundamentally changes in the bili…
Comparing Controller Synthesis Methods with Deadline-Miss Awareness
Melanie Gallant, Marc Seidel, Paolo Pazzaglia +5
This paper presents a comparative study of real-time controller design methods for dynamical control systems subject to deadline overruns. Numerous techniques have been proposed to…
Verifiable computations for dynamic encrypted control
Sebastian Schlor, Frank Allgöwer
Encrypted control can preserve the privacy of data and parameters while the necessary computations can be outsourced to a cloud server. To ensure the integrity of the received valu…
Koopman meets input-output data: Data-driven output-feedback control of nonlinear systems with closed-loop guarantees
Robin Strässer, Julian Berberich, Manuel Schaller +2
Data-driven control of nonlinear systems from input-output measurements remains a fundamental challenge, as existing approaches with rigorous closed-loop guarantees predominantly r…
A Koopman Set-Membership Approach for Nonlinear Data-Driven Control with Stability Guarantees
Yifan Xie, Zuxun Xiong, Julian Berberich +2
This paper proposes a data-driven controller design method for unknown nonlinear systems based on a Koopman bilinear realization. Using Koopman operator theory, the nonlinear syste…
Data-Driven Min-Max MPC with Integral Quadratic Constraints
Yifan Xie, Julian Berberich, Frank Allgöwer
Data-driven control of nonlinear systems with rigorous guarantees is a challenging control problem. Integral quadratic constraints (IQCs) provide a powerful framework for modeling…
Beyond Bounded Noise: Stochastic Set-Membership Estimation for Nonlinear Systems
Felix Brändle, Nicolas Chatzikiriakos, Andrea Iannelli +1
In this paper, we derive a novel procedure for set-membership estimation of dynamical systems affected by stochastic noise with unbounded support. Employing a bound on the sample c…
A Controller Synthesis Framework for Weakly-Hard Control Systems
Marc Seidel, Martina Maggio, Frank Allgöwer
Deadline misses are more common in real-world systems than one may expect. The weakly-hard task model has become a standard abstraction to describe and analyze how often these miss…
Control-Oriented System Identification: Classical, Learning, and Physics-Informed Approaches
S. Sivaranjani, Yuanyuan Shi, Nikolay Atanasov +6
We survey classical, machine learning, and data-driven system identification approaches to learn control-relevant and physics-informed models of dynamical systems. Recently, machin…
IMMPC: An Internal Model Based MPC for Rejecting Unknown Disturbances
Felix Brändle, Frank Allgöwer
Model predictive control (MPC) is a powerful control method that allows for the direct inclusion of state and input constraints into the controller design. However, errors in the m…
Performance analysis for cone-preserving switched systems with constrained switching
Marc Seidel, Richard Pates, Frank Allgöwer
This paper studies cone-preserving linear discrete-time switched systems whose switching is governed by an automaton. For this general system class, we present performance analysis…
An overview of systems-theoretic guarantees in data-driven model predictive control
Julian Berberich, Frank Allgöwer
The development of control methods based on data has seen a surge of interest in recent years. When applying data-driven controllers in real-world applications, providing theoretic…
How improving performance may imply losing consistency in event-triggered consensus
David Meister, Duarte J. Antunes, Frank Allgöwer
Event-triggered control is often argued to lower the average triggering rate compared to time-triggered control while still achieving a desired control goal, e.g., the same perform…
Data-Driven Min-Max MPC for Linear Systems: Robustness and Adaptation
Yifan Xie, Julian Berberich, Frank Allgöwer
Data-driven controllers design is an important research problem, in particular when data is corrupted by the noise. In this paper, we propose a data-driven min-max model predictive…
Bootstrapping Guarantees: Stability and Performance Analysis for Dynamic Encrypted Control
Sebastian Schlor, Frank Allgöwer
Encrypted dynamic controllers that operate for an unlimited time have been a challenging subject of research. The fundamental difficulty is the accumulation of errors and scaling f…
Collision Avoidance Safety Filter for an Autonomous E-Scooter using Ultrasonic Sensors
Robin Strässer, Marc Seidel, Felix Brändle +4
In this paper, we propose a collision avoidance safety filter for autonomous electric scooters to enable safe operation of such vehicles in pedestrian areas. In particular, we empl…
State space representations of the Roesser type for convolutional layers
Patricia Pauli, Dennis Gramlich, Frank Allgöwer
From the perspective of control theory, convolutional layers (of neural networks) are 2-D (or N-D) linear time-invariant dynamical systems. The usual representation of convolutiona…
SafEDMD: A Koopman-based data-driven controller design framework for nonlinear dynamical systems
Robin Strässer, Manuel Schaller, Karl Worthmann +2
The Koopman operator serves as the theoretical backbone for machine learning of dynamical control systems, where the operator is heuristically approximated by extended dynamic mode…
Towards targeted exploration for non-stochastic disturbances
Janani Venkatasubramanian, Johannes Köhler, Mark Cannon +1
We present a novel targeted exploration strategy for linear time-invariant systems without stochastic assumptions on the noise, i.e., without requiring independence or zero mean, a…
Koopman-based feedback design with stability guarantees
Robin Strässer, Manuel Schaller, Karl Worthmann +2
We present a method to design a state-feedback controller ensuring exponential stability for nonlinear systems using only measurement data. Our approach relies on Koopman-operator…
Decrypting Nonlinearity: Koopman Interpretation and Analysis of Cryptosystems
Robin Strässer, Sebastian Schlor, Frank Allgöwer
Public-key cryptosystems rely on computationally difficult problems for security, traditionally analyzed using number theory methods. In this paper, we introduce a novel perspectiv…
Data-Driven Min-Max MPC for Linear Systems
Yifan Xie, Julian Berberich, Frank Allgower
Designing data-driven controllers in the presence of noise is an important research problem, in particular when guarantees on stability, robustness, and constraint satisfaction are…
Performance implications of different -norms in level-triggered sampling
David Meister, Frank Allgöwer
This work studies the performance of an event-based control approach, namely level-triggered sampling, in a standard multidimensional single-integrator setup. We falsify a conjectu…
Analysis and design of model predictive control frameworks for dynamic operation -- An overview
Johannes Köhler, Matthas A. Müller, Frank Allgöwer
This article provides an overview of model predictive control (MPC) frameworks for dynamic operation of nonlinear constrained systems. Dynamic operation is often an integral part o…