Search Results - "Muller, Matthias A."

Suboptimal Nonlinear Moving Horizon Estimation by Schiller, Julian D., Muller, Matthias A.

“…In this article, we propose a suboptimal moving horizon estimator for a general class of nonlinear systems. For the stability analysis, we transfer the…”
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Approximate Dissipativity of Cost-Interconnected Systems in Distributed Economic MPC by Kohler, Philipp N., Muller, Matthias A., Allgower, Frank

“…We consider dissipativity properties of interconnected systems in the context of distributed economic model predictive control (MPC), with the subsystems being…”
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On an integral variant of incremental input/output-to-state stability and its use as a notion of nonlinear detectability by Schiller, Julian D., Muller, Matthias A.

“…We propose a time-discounted integral variant of incremental input/output-to-state stability (i-iIOSS) together with an equivalent Lyapunov function…”
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Data-Driven Model Predictive Control With Stability and Robustness Guarantees by Berberich, Julian, Kohler, Johannes, Muller, Matthias A., Allgower, Frank

“…We propose a robust data-driven model predictive control (MPC) scheme to control linear time-invariant systems. The scheme uses an implicit model description…”
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Linear Tracking MPC for Nonlinear Systems-Part II: The Data-Driven Case by Berberich, Julian, Kohler, Johannes, Muller, Matthias A., Allgower, Frank

“…In this article, we present a novel data-driven model predictive control (MPC) approach to control unknown nonlinear systems using only measured input-output…”
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A Computationally Efficient Robust Model Predictive Control Framework for Uncertain Nonlinear Systems by Kohler, Johannes, Soloperto, Raffaele, Muller, Matthias A., Allgower, Frank

“…In this article, we present a nonlinear robust model predictive control (MPC) framework for general (state and input dependent) disturbances. This approach…”
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Constrained Nonlinear Output Regulation Using Model Predictive Control by Kohler, Johannes, Muller, Matthias A., Allgower, Frank

“…We present a model predictive control (MPC) framework to solve the constrained nonlinear output regulation problem. The main feature of the proposed framework…”
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Guaranteed Closed-Loop Learning in Model Predictive Control by Soloperto, Raffaele, Muller, Matthias A., Allgower, Frank

“…In this article, we propose a novel learning-based model predictive control framework for nonlinear systems which is able to guarantee closed-loop learning of…”
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A Nonlinear Model Predictive Control Framework Using Reference Generic Terminal Ingredients by Kohler, Johannes, Muller, Matthias A., Allgower, Frank

“…In this article, we present a quasi-infinite horizon nonlinear model predictive control (MPC) scheme for tracking of generic reference trajectories. This…”
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Nonlinear Reference Tracking: An Economic Model Predictive Control Perspective by Kohler, Johannes, Muller, Matthias A., Allgower, Frank

“…In this paper, we study the system theoretic properties of a reference tracking model predictive control (MPC) scheme for general reference trajectories and…”
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Linear Tracking MPC for Nonlinear Systems-Part I: The Model-Based Case by Berberich, Julian, Kohler, Johannes, Muller, Matthias A., Allgower, Frank

“…In this article, we develop a tracking model predictive control (MPC) scheme for nonlinear systems using the linearized dynamics at the current state as a…”
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Model Predictive Control for Linear Uncertain Systems Using Integral Quadratic Constraints by Schwenkel, Lukas, Kohler, Johannes, Muller, Matthias A., Allgower, Frank

“…In this work, we propose a tube-based model predictive control (MPC) scheme for state- and input-constrained linear systems subject to dynamic uncertainties…”
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Efficient Off-Policy Q-Learning for Data-Based Discrete-Time LQR Problems by Lopez, Victor G., Alsalti, Mohammad, Muller, Matthias A.

“…This paper introduces and analyzes an improved Q-learning algorithm for discrete-time linear time-invariant systems. The proposed method does not require any…”
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Distributed MPC for Self-Organized Cooperation of Multiagent Systems by Kohler, Matthias, Muller, Matthias A., Allgower, Frank

“…In this article, we present a sequential distributed model predictive control (MPC) scheme for cooperative control of multiagent systems with dynamically…”
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On Necessity and Robustness of Dissipativity in Economic Model Predictive Control by Muller, Matthias A., Angeli, David, Allgower, Frank

“…In this paper, we study a dissipativity property which was recently used in several results on economic model predictive control to ensure optimal operation of…”
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Motion Planning Using Reactive Circular Fields: A 2-D Analysis of Collision Avoidance and Goal Convergence by Becker, Marvin, Köhler, Johannes, Haddadin, Sami, Müller, Matthias A.

“…Recently, many reactive trajectory planning approaches were suggested in the literature because of their inherent immediate adaption in the ever more demanding…”
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Data-Based Control of Feedback Linearizable Systems by Alsalti, Mohammad, Lopez, Victor G., Berberich, Julian, Allgower, Frank, Muller, Matthias A.

“…We present an extension of Willems' Fundamental Lemma to the class of multi-input multi-output discrete-time feedback linearizable nonlinear systems, thus…”
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A Lyapunov function for robust stability of moving horizon estimation by Schiller, Julian D., Muntwiler, Simon, Kohler, Johannes, Zeilinger, Melanie N., Muller, Matthias A.

“…We provide a novel robust stability analysis for moving horizon estimation (MHE) using a Lyapunov function. Additionally, we introduce linear matrix…”
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State and Parameter Estimation for Retinal Laser Treatment by Kleyman, Viktoria, Schaller, Manuel, Mordmuller, Mario, Wilson, Mitsuru, Brinkmann, Ralf, Worthmann, Karl, Muller, Matthias A.

“…Adequate therapeutic retinal laser irradiation needs to be adapted to local absorption. This leads to time-consuming treatments as the laser power needs to be…”
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Predictive Multi-Agent-Based Planning and Landing Controller for Reactive Dual-Arm Manipulation by Laha, Riddhiman, Becker, Marvin, Vorndamme, Jonathan, Vrabel, Juraj, Figueredo, Luis F.C., Muller, Matthias A., Haddadin, Sami

“…Future robots operating in fast-changing anthropomorphic environments need to be reactive, safe, flexible, and intuitively use both arms (comparable to humans)…”
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