108 citations · 185 across the 22 of their papers we have counts for
26 papers · 1 filter
Inferring Global Exponential Stability Properties using Lie-bracket Approximations
Marc Weber, Bahman Gharesifard, Christian Ebenbauer
In the present paper, a novel result for inferring uniform global, not semi-global, exponential stability in the sense of Lyapunov with respect to input-affine systems from global…
Flexible-step MPC for Switched Linear Systems with No Quadratic Common Lyapunov Function
Annika Fürnsinn, Christian Ebenbauer, Bahman Gharesifard
In this paper, we develop a systematic method for constructing a generalized discrete-time control Lyapunov function for the flexible-step Model Predictive Control (MPC) scheme, re…
Synthesis of constrained robust feedback policies and model predictive control
Dennis Gramlich, Carsten W. Scherer, Hannah Häring +1
In this work, we develop a method based on robust control techniques to synthesize robust time-varying state-feedback policies for finite, infinite, and receding horizon control pr…
Optimization Algorithm Synthesis based on Integral Quadratic Constraints: A Tutorial
Carsten W. Scherer, Christian Ebenbauer, Tobias Holicki
We expose in a tutorial fashion the mechanisms which underlie the synthesis of optimization algorithms based on dynamic integral quadratic constraints. We reveal how these tools fr…
A structure exploiting SDP solver for robust controller synthesis
Dennis Gramlich, Tobias Holicki, Carsten W. Scherer +1
In this paper, we revisit structure exploiting SDP solvers dedicated to the solution of Kalman-Yakubovic-Popov semi-definite programs (KYP-SDPs). These SDPs inherit their name from…
Convolutional Neural Networks as 2-D systems
Dennis Gramlich, Patricia Pauli, Carsten W. Scherer +2
This paper introduces a novel representation of convolutional Neural Networks (CNNs) in terms of 2-D dynamical systems. To this end, the usual description of convolutional layers w…
Flexible-step Model Predictive Control based on Generalized Lyapunov Functions
Annika Fürnsinn, Christian Ebenbauer, Bahman Gharesifard
We present a novel nonlinear model predictive control (MPC) scheme with relaxed stability criteria, based on the idea of generalized discrete-time control Lyapunov functions. These…
Fast identification and stabilization of unknown linear systems
Dennis Gramlich, Christian Ebenbauer
In the present work, a simple algorithm for stabilizing an unknown linear time-invariant system is proposed, assuming only that this system is stabilizable. The suggested algorithm…
Robust Differential Dynamic Programming
Dennis Gramlich, Carsten W. Scherer, Christian Ebenbauer
Differential Dynamic Programming is an optimal control technique often used for trajectory generation. Many variations of this algorithm have been developed in the literature, incl…
Extremum Seeking with Intermittent Measurements: A Lie-brackets Approach
Christophe Labar, Christian Ebenbauer, Lorenzo Marconi
Extremum seeking systems are powerful methods able to steer the input of a (dynamical) cost function towards an optimizer, without any prior knowledge of the cost function. To achi…
A Note on Nussbaum-type Control and Lie-bracket Approximation
Marc Weber, Christian Ebenbauer, Bahman Gharesifard
In this paper, we propose an adaptive control law for completely unknown scalar linear systems based on Lie-bracket approximation methods. We investigate stability and convergence…
Convex Synthesis of Accelerated Gradient Algorithms
Carsten Scherer, Christian Ebenbauer
We present a convex solution for the design of generalized accelerated gradient algorithms for strongly convex objective functions with Lipschitz continuous gradients. We utilize i…
Anytime Proximity Moving Horizon Estimation: Stability and Regret
Meriem Gharbi, Bahman Gharesifard, Christian Ebenbauer
In this paper, we address the efficient implementation of moving horizon state estimation of constrained discrete-time linear systems. We propose a novel iteration scheme which emp…
Convex Synthesis of Accelerated Gradient Algorithms for Optimization and Saddle Point Problems using Lyapunov functions
Dennis Gramlich, Christian Ebenbauer, Carsten W. Scherer
This paper considers the problem of designing accelerated gradient-based algorithms for optimization and saddle-point problems. The class of objective functions is defined by a gen…
Gradient Approximation and Multi-Variable Derivative-Free Optimization based on Non-Commutative Maps
Jan Feiling, Mohamed-Ali Belabbas, Christian Ebenbauer
In this work, multi-variable derivative-free optimization algorithms for unconstrained optimization problems are developed. A novel procedure for approximating the gradient of mult…
Robust and structure exploiting optimization algorithms: An integral quadratic constraint approach
Simon Michalowsky, Carsten Scherer, Christian Ebenbauer
We consider the problem of analyzing and designing gradient-based discrete-time optimization algorithms for a class of unconstrained optimization problems having strongly convex ob…
Online learning with stability guarantees: A memory-based real-time model predictive controller
Lukas Schwenkel, Meriem Gharbi, Sebastian Trimpe +1
We propose and analyze a real-time model predictive control (MPC) scheme that utilizes stored data to improve its performance by learning the value function online with stability g…
Derivative-Free Optimization Algorithms based on Non-Commutative Maps
Jan Feiling, Amelie Zeller, Christian Ebenbauer
A novel class of derivative-free optimization algorithms is developed. The main idea is to utilize certain non-commutative maps in order to approximate the gradient of the objectiv…
On the Lie bracket approximation approach to distributed optimization: Extensions and limitations
Simon Michalowsky, Bahman Gharesifard, Christian Ebenbauer
We consider the problem of solving a smooth convex optimization problem with equality and inequality constraints in a distributed fashion. Assuming that we have a group of agents a…
A family of extremum seeking laws for a unicycle model with a moving target: theoretical and experimental studies
Victoria Grushkovskaya, Simon Michalowsky, Alexander Zuyev +2
In this paper, we propose and practically evaluate a class of gradient-free control functions ensuring the motion of a unicycle-type system towards the extremum point of a time-var…
A Lie bracket approximation approach to distributed optimization over directed graphs
Simon Michalowsky, Bahman Gharesifard, Christian Ebenbauer
We consider a group of computation units trying to cooperatively solve a distributed optimization problem with shared linear equality and inequality constraints. Assuming that the…
On a class of generating vector fields for the extremum seeking problem: Lie bracket approximation and stability properties
Victoria Grushkovskaya, Alexander Zuyev, Christian Ebenbauer
In this paper, we describe a broad class of control functions for extremum seeking problems. We show that it unifies and generalizes existing extremum seeking strategies which are…
A stabilizing iteration scheme for model predictive control based on relaxed barrier functions
Christian Feller, Christian Ebenbauer
We propose and analyze a stabilizing iteration scheme for the algorithmic implementation of model predictive control for linear discrete-time systems. Polytopic input and state con…
Iterative Learning and Extremum Seeking for Repetitive Time-Varying Mappings
Zhixing Cao, Hans-Bernd Dürr, Christian Ebenbauer +2
In this paper, we develop an extremum seeking control method integrated with iterative learning control to track a time-varying optimizer within finite time. The behavior of the ex…