258 citations · 2.4k across the 118 of their papers we have counts for
14 papers · 1 filter
Robust Economic Model Predictive Control without Terminal Conditions
Lukas Schwenkel, Johannes Köhler, Matthias A. Müller +1
In this paper, a novel tube-based economic Model Predictive Control (MPC) scheme for uncertain systems that uses neither terminal costs nor terminal constraints is investigated. We…
Saving Tokens in Rollout Control with Token Bucket Specification
Florian Jaumann, Stefan Wildhagen, Frank Allgöwer
We consider a communication network over which transmissions must fulfill the so-called token bucket traffic specification, with a rollout (i.e., predictive) controller that both s…
A Resource-Aware Approach to Self-Triggered Model Predictive Control: Extended Version
Stefan Wildhagen, Colin N. Jones, Frank Allgöwer
In this paper, we consider a self-triggered formulation of model predictive control. In this variant, the controller decides at the current sampling instant itself when the next sa…
Stability and performance in transient average constrained economic MPC without terminal constraints
Mario Rosenfelder, Johannes Köhler, Frank Allgöwer
In this paper, we investigate system theoretic properties of transient average constrained economic model predictive control (MPC) without terminal constraints. We show that the op…
A robust adaptive model predictive control framework for nonlinear uncertain systems
Johannes Köhler, Peter Kötting, Raffaele Soloperto +2
In this paper, we present a tube-based framework for robust adaptive model predictive control (RAMPC) for nonlinear systems subject to parametric uncertainty and additive disturban…
A computationally efficient robust model predictive control framework for uncertain nonlinear systems -- extended version
Johannes Köhler, Raffaele Soloperto, Matthias A. Müller +1
In this paper, we present a nonlinear robust model predictive control (MPC) framework for general (state and input dependent) disturbances. This approach uses an online constructed…
Data-Driven Tracking MPC for Changing Setpoints
Julian Berberich, Johannes Köhler, Matthias A. Müller +1
We propose a data-driven tracking model predictive control (MPC) scheme to control unknown discrete-time linear time-invariant systems. The scheme uses a purely data-driven system…
Sampling Strategies for Data-Driven Inference of Input-Output System Properties
Anne Koch, Jan Maximilian Montenbruck, Frank Allgöwer
Due to their relevance in controller design, we consider the problem of determining the -gain, passivity properties and conic relations of an input-output system. Wh…
Linear robust adaptive model predictive control: Computational complexity and conservatism -- extended version
Johannes Köhler, Elisa Andina, Raffaele Soloperto +2
In this paper, we present a robust adaptive model predictive control (MPC) scheme for linear systems subject to parametric uncertainty and additive disturbances. The proposed appro…
Economic model predictive control for snake robot locomotion
Marko Nonhoff, Philipp N. Köhler, Anna M. Kohl +2
In this work, the control of snake robot locomotion via economic model predictive control (MPC) is studied. Only very few examples of applications of MPC to snake robots exist and…
Monitoring Link Faults in Nonlinear Diffusively-coupled Networks
Miel Sharf, Daniel Zelazo
Fault detection and isolation is an area of engineering dealing with designing on-line protocols for systems that allow one to identify the existence of faults, pinpoint their exac…
Model-Free Practical Cooperative Control for Diffusively Coupled Systems
Miel Sharf, Anne Koch, Daniel Zelazo +1
In this paper, we develop a data-based controller design framework for diffusively coupled systems with guaranteed convergence to an -neighborhood of the desired formation. The…
A trajectory-based framework for data-driven system analysis and control
Julian Berberich, Frank Allgöwer
The vector space of all input-output trajectories of a discrete-time linear time-invariant (LTI) system is spanned by time-shifts of a single measured trajectory, given that the re…
Economic MPC using a Cyclic Horizon with Application to Networked Control Systems
Stefan Wildhagen, Matthias A. Müller, Frank Allgöwer
In this paper, we analyze an economic model predictive control scheme with terminal region and cost, where the system is optimally operated in a certain subset of the state space.…