From the 1 of 7 linked papers with an AI index.
7 papers
Input-to-state Stable Approximate Nonlinear Model Predictive Control with Realtime Feasibility
Jan Olucak, Torbjørn Cunis
The paper presents a lightweight approximate robust nonlinear model predictive control scheme that uses input-to-state control Lyapunov functions and robust control barrier functio…
Sum-of-Squares Stability Verification on Manifolds with Applications in Spacecraft Attitude Control
Fabian Geyer, Friedrich Tuttas, Walter Fichter +2
In the context of spacecraft attitude control, parametrizations such as direction vectors or quaternions are often used to avoid singularities in the attitude representation. This,…
On the Practical Implementation of a Sequential Quadratic Programming Algorithm for Nonconvex Sum-of-squares Problems
Jan Olucak, Torbjørn Cunis
Sum-of-squares (SOS) optimization provides a computationally tractable framework for certifying polynomial nonnegativity. If the considered problem is convex, the SOS problem can b…
Novel Multi-objective Switched Model Predictive Control with Feasibility and Stability Guarantees
Elias Niepötter, Adrian Grimm, Torbjørn Cunis
As the relevance of control systems capable of dealing with multiple objectives rises (e.g. being economic while maintaining a certain performance), multi-objective Switched Model…
Virtual Target Trajectory Prediction for Stochastic Targets
Marc Schneider, Renato Loureiro, Torbjørn Cunis +1
Trajectory prediction of aerial vehicles is a key requirement in applications ranging from missile guidance to UAV collision avoidance. While most prediction methods assume determi…
Safe-by-Design: Approximate Nonlinear Model Predictive Control with Real Time Feasibility
Jan Olucak, Arthur Castello B. de Oliveira, Torbjørn Cunis
This paper establishes relationships between continuous-time, receding horizon, nonlinear model predictive control (MPC) and control Lyapunov and control barrier functions (CLF/CBF…