Zeitschriftenartikel
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(2024): Predictive Multi-Agent-Based Planning and Landing Controller for Reactive Dual-Arm Manipulation, IEEE Transactions on Robotics, Vol. 40, pp. 864-885
DOI: 10.1109/TRO.2023.3341689 -
(2024): Online convex optimization for robust control of constrained dynamical systems, submitted
arXiv: 2401.04487 -
(2024): Moving horizon estimation for nonlinear systems with time-varying parameters, Accepted for presentation at NMPC 2024, Kyoto, Japan
arXiv: 2404.09566 -
(2024): Robust stability of moving horizon estimation for continuous-time systems, at - Automatisierungstechnik, Vol. 72, No. 2, pp. 120-133
DOI: 10.1515/auto-2023-0087
arXiv: 2305.06614 -
(2023): Sample- and computationally efficient data-driven predictive control, submitted
arXiv: 2309.11238 -
(2023): On the design of persistently exciting inputs for data-driven control of linear and nonlinear systems, IEEE Control Systems Letters, vol. 7, pp. 2629 - 2634
DOI: 10.1109/LCSYS.2023.3287133
arXiv: 2303.08707 -
(2023): Notes on data-driven output-feedback control of linear MIMO systems, submitted
arXiv: 2311.17484 -
(2023): Data-Based Control of Feedback Linearizable Systems, IEEE Transactions on Automatic Control (Early Access)
DOI: 10.1109/TAC.2023.3249289
arXiv: 2204.01148 -
(2023): Data-based system representations from irregularly measured data, submitted
arXiv: 2307.11589 -
(2023): Nonlinear Full Information and Moving Horizon Estimation: Robust Global Asymptotic Stability, Automatica, Vol. 150, p. 110603
DOI: 10.1016/j.automatica.2022.110603 -
(2023): Efficient Off-Policy Q-Learning for Data-Based Discrete-Time LQR Problems, IEEE Transactions on Automatic Control, pp. 1-12
DOI: 10.1109/TAC.2023.3235967 -
(2023): Identification from data with periodically missing output samples, submitted
DOI: 10.15488/15821 -
(2023): On the relation between dynamic regret and closed-loop stability, Systems & Control Letters, vol. 177, p. 105532
DOI: 10.1016/j.sysconle.2023.105532
arXiv: 2209.05964 -
(2023): Nonlinear moving horizon estimation for robust state and parameter estimation, Submitted
arXiv: 2312.13175 -
(2023): Suboptimal nonlinear moving horizon estimation, IEEE Transactions on Automatic Control, Vol. 68, No. 4, pp. 2199-2214
DOI: 10.1109/TAC.2022.3173937
arXiv: 2108.13750 -
(2023): On an integral variant of incremental input/output-to-state stability and its use as a notion of nonlinear detectability, IEEE Control Systems Letters, Vol. 7, pp. 2341-2346
DOI: 10.1109/LCSYS.2023.3286174
arXiv: 2305.05442 -
(2023): A Lyapunov function for robust stability of moving horizon estimation, IEEE Transactions on Automatic Control, Vol. 68, Issue 12, pp. 7466-7481
DOI: 10.1109/TAC.2023.3280344
arXiv: 2202.12744 -
(2023): A simple suboptimal moving horizon estimation scheme with guaranteed robust stability, IEEE Control Systems Letters, Vol. 7, pp. 19-24
DOI: 10.1109/LCSYS.2022.3186236
arXiv: 2203.16090 -
(2023): Model predictive control for linear uncertain systems using integral quadratic constraints, IEEE Transactions on Automatic Control, Vol. 68, Issue 1
DOI: 10.1109/TAC.2022.3171410 -
(2023): Guaranteed closed-loop learning in Model Predictive Control, IEEE Transactions on Automatic Control, Vol. 68, Issue 2
DOI: 10.1109/TAC.2022.3172453 -
(2022): Linear tracking MPC for nonlinear systems part I: the model-based case, IEEE Trans. Automat. Control, Vol. 67, Issue 9, pp. 4390-4405
DOI: 10.1109/TAC.2022.3166872
arXiv: 2105.08560 -
(2022): Linear tracking MPC for nonlinear systems part II: the data-driven case, IEEE Trans. Automat. Control, Vol. 67, Issue 9, pp. 4406-4421
DOI: 10.1109/TAC.2022.3166851
arXiv: 2105.08567 -
(2022): Multiobjective strict dissipativity via a weighted sum approach, Systems & Control Letters, Vol. 170, p. 105396
DOI: 10.1016/j.sysconle.2022.105396 -
(2022): State and Parameter Estimation for Retinal Laser Treatment, IEEE Transactions on Control Systems Technology, pp. 1-13
DOI: 10.1109/TCST.2022.3228442
arXiv: 2203.12452 -
(2022): A novel constraint-tightening approach for robust data-driven predictive control, Int J Robust Nonlinear Control, pp. 1-22
DOI: 10.1002/rnc.6532 -
(2022): Constrained nonlinear output regulation using model predictive control, IEEE Transactions on Automatic Control, Vol. 67, Issue 5, pp. 2419-2434
DOI: 10.1109/TAC.2021.3081080 -
(2022): Approximate dissipativity of cost-interconnected systems in distributed economic MPC, IEEE Transactions on Automatic Control
DOI: 10.1109/TAC.2022.3173028 -
(2022): Online Convex Optimization for Data-Driven Control of Dynamical Systems, IEEE Open Journal of Control Systems, vol. 1, pp. 180-193
DOI: 10.1109/OJCSYS.2022.3200021 -
(2022): Model predictive control for retinal laser treatment at 1 kHz, at - Automatisierungstechnik, Vol. 70, No. 11, pp. 992-1002
DOI: 10.1515/auto-2022-0030 -
(2022): Parameter estimation and model reduction for model predictive control in retinal laser treatment, Control Engineering Practice, Vol. 128, p. 105320
DOI: 10.1016/j.conengprac.2022.105320 -
(2022): Treating Hyperthyroidism: Model Predictive Control for the Prescription of Antithyroid Agents, submitted
arXiv: 2212.10096 -
(2022): Mathematical Modeling and Simulation of Thyroid Homeostasis: Implications for the Allan-Herndon-Dudley Syndrome, Frontiers in Endocrinology, Vol. 13, No. 882788
DOI: 10.3389/fendo.2022.882788 -
(2022): Optimal hormone replacement therapy in hypothyroidism - a model predictive control approach, Frontiers in Endocrinology, 13: 884018
DOI: 10.3389/fendo.2022.884018 -
(2022): Robust Data-Driven Moving Horizon Estimation for Linear Discrete-Time Systems, submitted
arXiv: 2210.09017 -
(2021): Circular Fields and Predictive Multi-Agents for Online Global Trajectory Planning, IEEE Robotics and Automation Letters, 2021, 6, 2618-2625
DOI: 10.1109/LRA.2021.3061997 -
(2021): Data-driven model predictive control: closed-loop guarantees and experimental results, at–Automatisierungstechnik, vol 69
DOI: 10.1515/auto-2021-0024 -
(2021): Data-Driven Model Predictive Control With Stability and Robustness Guarantees, IEEE Transactions on Automatic Control, 2021, Vol. 66, No. 4, pp. 1702-1717
DOI: 10.1109/TAC.2020.3000182 -
(2021): Strict dissipativity for discrete time discounted optimal control problems, Mathematical Control and Related Fields, Vol. 11, Iss. 4, pp. 771-796
DOI: 10.3934/mcrf.2020046 -
(2021): Distributed economic model predictive control for cooperative supply chain management using customer forecast information, IFAC Journal of Systems and Control, Vol. 15, 100125
DOI: 10.1016/j.ifacsc.2020.100125 -
(2021): Towards temperature controlled retinal laser treament with a single 10kHz laser, Advanced Optical Technologies, Vol. 10, No. 6, pp. 423-431
DOI: 10.1515/aot-2021-0041 -
(2020): Dissipativity properties in constrained optimal control: a computational approach, Automatica, vol. 114, Article 108840
DOI: 10.1016/j.automatica.2020.108840 -
(2020): A systems-theoretic analysis of low-level human motor control: application to a single-joint arm model, Journal of Mathematical Biology 80, 1139–1158
DOI: 10.1007/s00285-019-01455-z -
(2020): Modeling and parameter identification for real-time temperature controlled retinal laser therapies, at - Automatisierungstechnik, 2020, 68, 953 - 966
DOI: 10.1515/auto-2020-0074 -
(2020): A robust adaptive model predictive control framework for nonlinear uncertain systems, International Journal of Robust and Nonlinear Control, Vol. 31, Issue 18, pp. 8725-8749
DOI: 10.1002/rnc.5147 -
(2020): A nonlinear model predictive control framework using reference generic terminal ingredients, IEEE Transactions on Automatic Control, 2020, 65, 3576-3583
DOI: 10.1109/TAC.2019.2949350 -
(2020): A nonlinear tracking model predictive control scheme for dynamic target Signals, Automatica Vol. 118, Aritcle 109030
DOI: 10.1016/j.automatica.2020.109030 -
(2020): Periodic optimal control of nonlinear constrained systems using economic model predictive control, Journal of Process Control, Vol. 92, pp. 185-201
DOI: 10.1016/j.jprocont.2020.06.004 -
(2020): A computationally efficient robust model predictive control framework for uncertain nonlinear systems, IEEE Transactions on Automatic Control
DOI: 10.1109/TAC.2020.2982585 -
(2020): Economic MPC for online least costly energy management of hybrid electric vehicles, Control Engineering Practice, Vol.102, Article 104534
DOI: 10.1016/j.conengprac.2020.104534 -
(2020): A set-theoretic generalization of dissipativity with applications in tube MPC, Automatica, 2020, 122, 109179
DOI: 10.1016/j.automatica.2020.109179 -
(2019): Distributed model predictive control - Recursive feasibility under inexact dual optimization, Automatica, vol. 102, pp. 1-9
DOI: 10.1016/j.automatica.2018.12.037 -
(2019): Nonlinear reference tracking: An economic model predictive control perspective, IEEE Trans. Automat. Control, vol. 64, no. 1, pp. 254-269.
DOI: 10.1109/TAC.2018.2800789 -
(2019): A Validated Combined Musculotendon Path and Muscle-Joint Kinematics Model for the Human Hand, Computer Methods in Biomechanics and Biomedical Engineering, vol. 0, no. 0, Taylor & Francis, pp. 1-13.
DOI: 10.1080/10255842.2019.1588256 -
(2019): Predictive Control Over a Dynamical Token Bucket Network, IEEE Control Systems Letters, vol. 3, no. 4, pp 859-864
DOI: 10.1109/LCSYS.2019.2919264 -
(2018): On optimal system operation in robust economic MPC, Automatica, vol. 88, pp. 98 - 106.
DOI: 10.1016/j.automatica.2017.11.007 -
(2018): Mathematical modeling of the pituitary-thyroid feedback loop: role of a TSH-T3-shunt and sensitivity analysis, Frontiers in Endocrinology, vol. 9, pp. 91.
DOI: 10.3389/fendo.2018.00091 -
(2018): Indefinite Linear Quadratic Optimal Control: Strict Dissipativity and Turnpike Properties, IEEE Control Systems Letters, vol. 2, no. 3, pp. 399-404.
DOI: 10.1109/LCSYS.2018.2842142 -
(2018): Enhancing Output-feedback MPC with Set-valued Moving Horizon Estimation, IEEE Transactions on Automatic Control, vol. 63, no. 9, pp. 2976-2986.
DOI: 10.1109/TAC.2018.2791899 -
(2018): Economic Nonlinear Model Predictive Control, Foundations and Trends in Systems and Control,, vol. 5, no. 1, pp. 1-98.
DOI: 10.1561/2600000014 -
(2018): Exploiting Elastic Energy Storage for “Blind” Cyclic Manipulation: Modeling, Stability Analysis, Control and Experiments for Dribbling, IEEE Transactions on Robotics, Volume: 34, Issue: 1, Feb. 2018, 91-112 Weitere Informationen
DOI: 10.1109/TRO.2017.2765684 -
(2018): On periodic dissipativity notions in economic model predictive control, IEEE Control Systems Letters, vol. 2, no. 3, pp. 501-506.
DOI: 10.1109/LCSYS.2018.2842426 -
(2018): A distributed economic MPC framework for cooperative control under conflicting objectives, Automatica, 96, 368 - 379
DOI: 10.1016/j.automatica.2018.07.001 -
(2018): Force, Impedance and Trajectory Learning for Contact Tooling and Haptic Identification, IEEE Transactions on Robotics, 34, 1170-1182
DOI: 10.1109/TRO.2018.2830405 -
(2018): Sub-Millimetre Accurate Human Hand Kinematics: from Surface to Skeleton, Computer Methods in Biomechanics and Biomedical Engineering, vol. 21, 2, 113-128 (Open Access)
DOI: 10.1080/10255842.2018.1425996 -
(2018): Safety Map: A Unified Representation for Biomechanics Impact Data and Robot Instantaneous Dynamic Properties, IEEE Robotics and Automation Letters, vol. 3, no. 3, pages 1880-1887 Weitere Informationen
DOI: 10.1109/LRA.2018.2801477 -
(2018): Neuromuscular characterisation in Cerebral Palsy using hybrid Hill-type models on isometric contractions, Computers in Biology and Medicine, vol. 103, pp. 269-276.
DOI: 10.1016/j.compbiomed.2018.10.027 -
(2017): Passivitätsbasierte Kraft- und Impedanzregelung für Roboter mit starren Gelenken mittels Energietanks, at - Automatisierungstechnik, vol. 65, pp. 124-133
DOI: 10.1515/auto-2016-0108 -
(2017): Robot Collisions: A Survey on Detection, Isolation, and Identification, IEEE Transactions on Robotics, 33(6), 1292-1312 Weitere Informationen
DOI: 10.1109/TRO.2017.2723903 -
(2017): Cost-to-travel functions: a new perspective on optimal and model predictive control, Syst. Contr. Lett., vol. 106, pp. 79-86.
DOI: 10.1016/j.sysconle.2017.06.005 -
(2017): A Hierarchical Human-Robot Interaction-Planning Framework for Task Allocation in Collaborative Industrial Assembly Processes, IEEE Robotics and Automation Letters (RA-L), Volume 2, Issue 1, p. 41-48 Weitere Informationen
DOI: 10.1109/LRA.2016.2535907 -
(2017): An Artificial Robot Nervous System To Teach Robots How To Feel Pain And Reflexively React To Potentially Damaging Contacts, IEEE Robotics and Automation Letters (RA-L), Volume 2, Issue 1, p. 72 - 79. Weitere Informationen
DOI: 10.1109/LRA.2016.2536360 -
(2017): Stochastic Model Predictive Control without Terminal Constraints, Int. J. Robust and Nonlinear Control.
DOI: 10.1002/rnc.3912 -
(2017): Economic and distributed model predictive control: recent developments in optimization-based control, SICE Journal of Control, Measurement, and System Integration, vol. 10, no. 2, pp. 39-52.
DOI: 10.9746/jcmsi.10.39 -
(2017): Nonlinear moving horizon estimation in the presence of bounded disturbances, Automatica, vol. 79, pp. 306 - 314.
DOI: 10.1016/j.automatica.2017.01.033 -
(2017): Quadratic costs do not always work in MPC, Automatica, vol. 82, pp. 269 - 277.
DOI: 10.1016/j.automatica.2017.04.058 -
(2017): External Wrench Estimation, Interaction Control and Collision Reflexes for Flying Robots, IEEE Transactions on Robotics, 33(6), 1467-1482
DOI: 10.1109/TRO.2017.2750703 -
(2016): Robust Economic Model Predictive Control using Stochastic Information, Automatica, vol. 74, pp. 151-161.
DOI: 10.1016/j.automatica.2016.08.008 -
(2016): On the relation between strict dissipativity and turnpike properties, System & Control Letters, vol. 90, pp. 45-53 (Brockett-Willems Outstanding Paper Award for the best paper published in Systems & Control Letters in the period 2014-2018).
DOI: 10.1016/j.sysconle.2016.01.003 -
(2016): Economic model predictive control without terminal constraints for optimal periodic behavior, Automatica, vol. 70, pp. 128-139.
DOI: 10.1016/j.automatica.2016.03.024 -
(2016): Antagonistic Impedance Control for Pneumatically Actuated Robot Joints , Robotics and Automation Letters, IEEE, vol. 1, no. 1, pp. 161-168 Weitere Informationen
DOI: 10.1109/LRA.2015.2511663 -
(2015): On necessity and robustness of dissipativity in economic model predictive control, IEEE Trans. Automat. Control, vol. 60, no. 6, pp. 1671-1676.
DOI: 10.1109/TAC.2014.2361193 -
(2015): Norm-controllability of nonlinear systems, IEEE Trans. Automat. Control, vol. 60, no. 7, pp. 1825-1840.
DOI: 10.1109/TAC.2015.2394953 -
(2015): An Assistive Decision and Control Architecture for Force-Sensitive Hand-Arm Systems driven via Human-Machine Interfaces, The International Journal of Robotics Research, vol. 34 no. 6, 763-780
DOI: 10.1177/0278364914561535 -
(2014): Tube-based Robust Economic Model Predictive Control, J. Proc. Contr., vol. 24, no. 8, pp. 1237-1246.
DOI: 10.1016/j.jprocont.2014.06.006 -
(2014): Biomechanisch sichere Geschwindigkeitsregelung für die Mensch-Roboter Interaktion, at - Automatisierungstechnik, vol. 62, pp. 175-187.
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(2014): On the performance of economic model predictive control with self-tuning terminal cost, J. Proc. Contr., vol. 24, no. 8, pp. 1179-1186.
DOI: 10.1016/j.jprocont.2014.05.009 -
(2014): Transient average constraints in economic model predictive control, Automatica, vol. 50, no. 11, pp. 2943-2950.
DOI: 10.1016/j.automatica.2014.10.024 -
(2014): Convergence in economic model predictive control with average constraints, Automatica, vol. 50, no. 12, pp. 3100-3111.
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(2014): Collision analysis and safety evaluation using a collision model for the frontal robot-human impact, Robotica, vol. 32.
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(2013): Economic model predictive control with self-tuning terminal cost, European J. Control, vol. 19, no. 5, pp. 408-416.
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(2012): Improving performance in model predictive control: Switching cost functionals under average dwell-time, Automatica, vol. 48, no. 2, pp. 402-409.
DOI: 10.1016/j.automatica.2011.11.005 -
(2012): Fault coverage modeling in nonlinear dynamical systems, Automatica, vol. 48, no. 7, pp. 1372-1379.
DOI: 10.1016/j.automatica.2012.04.007 -
(2012): Input/output-to-state stability and state-norm estimators for switched nonlinear systems, Automatica, vol. 48, no. 9, pp. 2029-2039.
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(2012): Model predictive control of switched nonlinear systems under average dwell-time, J. Proc. Contr., vol. 22, no. 9, pp. 1702-1710.
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(2012): Cooperative control of dynamically decoupled systems via distributed model predictive control, Int. J. Robust and Nonlinear Control, vol. 22, no. 12, pp. 1376-1397.
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(2009): Probabilistic Balance Monitoring for Bipedal Robots, The International Journal of Robotics Research, vol. 28, no. 2, Feb, pp. 245-256.
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(2003): Bewegungsalgorithmen für zweibeinige Roboter ohne Oberkörper, at -- Automatisierungstechnik, vol. 51, no. 1, pp. 13-21.
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(2003): Analytic Path Planning Algorithms for Bipedal Robots Without a Trunk, Journal of Intelligent and Robotic Systems, vol. 36, no. 2, Feb., pp. 109-127.
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(2003): Distinctness of Reaction -- Ein Messverfahren zur Beurteilung von Echtzeitsystemen (Teil 2), at -- Automatisierungstechnik, vol. 51, no. 10, pp. 445-452.
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Konferenzbeiträge
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(2024): Disturbance feedback-based model predictive control in uncertain dynamic environments, Accepted at Conference on Nonlinear Model Predictive Control (NMPC 2024)
arXiv: 2404.09893 -
(2023): Data-driven nonlinear predictive control for feedback linearizable systems, 22nd IFAC World Congress: Yokohama, Japan, July 9-14, 2023. IFAC-PapersOnLine, Vol. 56, Issue 2, pp. 617-624
DOI: 10.1016/j.ifacol.2023.10.1636
arXiv: 2211.06339 -
(2023): Informed Circular Fields for Global Reactive Obstacle Avoidance of Robotic Manipulators, 22nd IFAC World Congress: Yokohama, Japan, July 9-14, 2023. IFAC-PapersOnLine, Vol. 56, Issue 2, pp. 1017-1022
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(2017): Improving the Performance of Biomechanically Safe Velocity Control for Redundant Robots through Reflected Mass Minimization, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 5390-5397
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(2017): Towards Interaction, Disturbance and Fault Aware Flying Robot Swarms, International Symposium on Robotics Research (ISRR2017), Puerto Varas, Chile, pp. 183-198
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(2017): Collision Detection, Isolation and Identification for Humanoids, Robotics and Automation (ICRA), 2017 IEEE International Conference on Weitere Informationen
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(2021): Towards model-based temperature-control for retinal laser therapies, Proc. Workshop Automed 2021
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(2018): Safety Map: A Tool for Global Robot Safety Evaluation and Safe Robot Design, IEEE International Conference on Robotics and Automation (ICRA), Workshop on Autonomous Robot Design Weitere Informationen
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(2017): Proprio- and Exteroceptive Reflexes for a Pneumatically Actuated Finger based on the artificial Robot Nervous System, ICRA 2017 all-day workshop on "The robotic sense of touch: from sensing to understanding" on 29 May 2017 | Datei |
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(2017): Collision Handling for Humanoids using Proprioceptive Sensing, IEEE International Conference on Robotics and Automation (ICRA), Workshop: The Robotic Sense of Touch: From Sensing to Understanding, Singapur, May 2017. | Datei |
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(2016): Teleoperated Semi-Autonomous Control of the LWR and a Humanoid Hand via the Myo Armband, IEEE International Conference on Robotics and Automation (ICRA), Workshop on Human-robot interfaces for enhanced physical interactions, Stockholm, May 2016, | Datei |
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(2016): Humanoid Collision Reflex Sequences based on an artificial Robot Nervous System including Contact Location and Direction, IEEE International Conference on Robotics and Automation (ICRA), Workshop on Legged Robot Falling: Fall Detection, Damage Prevention, and Recovery Actions, Stockholm, May 2016. | Datei |
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(2015): Robots for Humans, 2015 German American Frontiers of Engineering, GAFOE 2015 of National Academy of Engineering of the National Academies & Alexander von Humboldt Foundation
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(2015): Pain Reflexes For Robots To Evade Noxious Contact Events, 8th International Workshop on Human-Friendly Robotics, Munich, October 2015. Weitere Informationen
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(2015): A framework for task allocation in collaborative industrial assembly processes, 8th International Workshop on Human-Friendly Robotics, Munich, October 2015. Weitere Informationen
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(2015): Compliant Interaction with an Antagonistic Pneumatically Controlled Robot Joint, 8th International Workshop on Human-Friendly Robotics, Munich, October 2015 Weitere Informationen
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(2015): Collision Detection with a Hydraulically Actuated Robot Arm, 8th International Workshop on Human-Friendly Robotics, Munich, October 2015 Weitere Informationen
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(2014): Dynamic and Safe Motion Planning for Human Environments, IROS 2014 Workshop: Real-time Motion Generation & Control – Constraint-based Robot Programming
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Video Publikationen
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(2018): Roboterfabrik: A Pilot to Link and Unify German Robotics Education to Match Industrial and Societal Demands (Video), Companion of the 2018 ACM/IEEE International Conference on Human-Robot Interaction, p. 375 Weitere Informationen
DOI: 10.1145/3173386.3177534