Zeitschriftenartikel

  • Schiller, J. D. & Müller, M. A. (2024): Robust stability of moving horizon estimation for continuous-time systemsat - Automatisierungstechnik, Vol. 72, No. 2, pp. 120-133
    DOI: 10.1515/auto-2023-0087
    arXiv: 2305.06614
  • Alsalti, M.; Barkey, M.; Lopez, V. G. & Müller, M. A. (2023): Sample- and computationally efficient data-driven predictive controlsubmitted
    arXiv: 2309.11238
  • Alsalti, M.; Lopez, V. G. & Müller, M. A. (2023): On the design of persistently exciting inputs for data-driven control of linear and nonlinear systemsIEEE Control Systems Letters, vol. 7, pp. 2629 - 2634
    DOI: 10.1109/LCSYS.2023.3287133
    arXiv: 2303.08707
  • Alsalti, M.; Lopez, V. G. & Müller, M. A. (2023): Notes on data-driven output-feedback control of linear MIMO systemssubmitted
    arXiv: 2311.17484
  • Alsalti, M.; Lopez, V. G. & Müller, M. A. (2023): An efficient data-based off-policy Q-learning algorithm for optimal output feedback control of linear systemssubmitted
    arXiv: 2312.03451
  • Alsalti, M.; Lopez, V. G; Berberich, J.; Allgöwer, F. & Müller, M. A. (2023): Data-Based Control of Feedback Linearizable SystemsIEEE Transactions on Automatic Control (Early Access)
    DOI: 10.1109/TAC.2023.3249289
    arXiv: 2204.01148
  • Alsalti, M.; Markovsky, I.; Lopez, V. G. & Müller, M. A. (2023): Data-based system representations from irregularly measured datasubmitted
    arXiv: 2307.11589
  • Knüfer, S. & Müller, M. A. (2023): Nonlinear Full Information and Moving Horizon Estimation: Robust Global Asymptotic StabilityAutomatica, Vol. 150, p. 110603
    DOI: 10.1016/j.automatica.2022.110603
  • Krauss, I.; Lopez, V. G. & Müller, M. A. (2023): Sample-based nonlinear detectability for discrete-time systemssubmitted
    arXiv: 2312.13658
  • Lopez, V. G.; Alsalti, M. & Müller, M. A. (2023): Efficient Off-Policy Q-Learning for Data-Based Discrete-Time LQR ProblemsIEEE Transactions on Automatic Control, pp. 1-12
    DOI: 10.1109/TAC.2023.3235967
  • Nonhoff, M. & Müller, M. A. (2023): On the relation between dynamic regret and closed-loop stabilitySystems & Control Letters, vol. 177, p. 105532
    DOI: 10.1016/j.sysconle.2023.105532
    arXiv: 2209.05964
  • Schiller, J. D. & Müller, M. A. (2023): Nonlinear moving horizon estimation for robust state and parameter estimationSubmitted
    arXiv: 2312.13175
  • Schiller, J. D. & Müller, M. A. (2023): Suboptimal nonlinear moving horizon estimationIEEE Transactions on Automatic Control, Vol. 68, No. 4, pp. 2199-2214
    DOI: 10.1109/TAC.2022.3173937
    arXiv: 2108.13750
  • Schiller, J. D. & Müller, M. A. (2023): On an integral variant of incremental input/output-to-state stability and its use as a notion of nonlinear detectabilityIEEE Control Systems Letters, Vol. 7, pp. 2341-2346
    DOI: 10.1109/LCSYS.2023.3286174
    arXiv: 2305.05442
  • Schiller, J. D.; Muntwiler, S.; Köhler, J.; Zeilinger, M. N. & Müller, M. A. (2023): A Lyapunov function for robust stability of moving horizon estimationIEEE Transactions on Automatic Control, Vol. 68, Issue 12, pp. 7466-7481
    DOI: 10.1109/TAC.2023.3280344
    arXiv: 2202.12744
  • Schiller, J. D.; Wu, B. & Müller, M. A. (2023): A simple suboptimal moving horizon estimation scheme with guaranteed robust stabilityIEEE Control Systems Letters, Vol. 7, pp. 19-24
    DOI: 10.1109/LCSYS.2022.3186236
    arXiv: 2203.16090
  • Schwenkel, L.; Koehler, J.; Müller, M. A. & Allgöwer, F. (2023): Model predictive control for linear uncertain systems using integral quadratic constraintsIEEE Transactions on Automatic Control, Vol. 68, Issue 1
    DOI: 10.1109/TAC.2022.3171410
  • Soloperto, R.; Müller, M. A. & Allgöwer, F. (2023): Guaranteed closed-loop learning in Model Predictive ControlIEEE Transactions on Automatic Control, Vol. 68, Issue 2
    DOI: 10.1109/TAC.2022.3172453
  • Becker, M.; Köhler, J.; Haddadin, S. & Müller, M. A. (2022): Motion Planning using Reactive Circular Fields: A 2D Analysis of Collision Avoidance and Goal Convergencesubmitted
    arXiv: 2210.16106
  • Berberich, J.; Köhler, J.; Müller, M. A. & Allgöwer, F. (2022): Linear tracking MPC for nonlinear systems part I: the model-based caseIEEE Trans. Automat. Control, Vol. 67, Issue 9, pp. 4390-4405
    DOI: 10.1109/TAC.2022.3166872
    arXiv: 2105.08560
  • Berberich, J.; Köhler, J.; Müller, M. A. & Allgöwer, F. (2022): Linear tracking MPC for nonlinear systems part II: the data-driven caseIEEE Trans. Automat. Control, Vol. 67, Issue 9, pp. 4406-4421
    DOI: 10.1109/TAC.2022.3166851
    arXiv: 2105.08567
  • Grüne, L.; Krügel, L. & Müller, M. A. (2022): Multiobjective strict dissipativity via a weighted sum approachSystems & Control Letters, Vol. 170, p. 105396
    DOI: 10.1016/j.sysconle.2022.105396
  • Kleyman, V.; Schaller, M.; Mordmüller, M.; Wilson, M.; Brinkmann, R.; Worthmann, K. & Müller, M. A. (2022): State and Parameter Estimation for Retinal Laser TreatmentIEEE Transactions on Control Systems Technology, pp. 1-13
    DOI: 10.1109/TCST.2022.3228442
    arXiv: 2203.12452
  • Klöppelt, C.; Berberich, J.; Allgöwer, F. & Müller, M. A. (2022): A novel constraint-tightening approach for robust data-driven predictive controlInt J Robust Nonlinear Control, pp. 1-22
    DOI: 10.1002/rnc.6532
  • Köhler, J.; Müller, M. A. & Allgöwer, F. (2022): Constrained nonlinear output regulation using model predictive controlIEEE Transactions on Automatic Control, Vol. 67, Issue 5, pp. 2419-2434
    DOI: 10.1109/TAC.2021.3081080
  • Köhler, P.; Müller, M. A. & Allgöwer, F. (2022): Approximate dissipativity of cost-interconnected systems in distributed economic MPCIEEE Transactions on Automatic Control
    DOI: 10.1109/TAC.2022.3173028
  • Nonhoff, M. & Müller, M. A. (2022): Online Convex Optimization for Data-Driven Control of Dynamical SystemsIEEE Open Journal of Control Systems, vol. 1, pp. 180-193
    DOI: 10.1109/OJCSYS.2022.3200021
  • Schaller, M.; Kleyman, V.; Mordmüller, M.; Schmidt, C.; Wilson, M.; Brinkmann, R.; Müller, M. A. & Worthmann, K. (2022): Model predictive control for retinal laser treatment at 1 kHzat - Automatisierungstechnik, Vol. 70, No. 11, pp. 992-1002
    DOI: 10.1515/auto-2022-0030
  • Schaller, M.; Wilson, M.; Kleyman, V.; Mordmüller, M.; Brinkmann, R.; Müller, M. A. & Worthmann, K. (2022): Parameter estimation and model reduction for model predictive control in retinal laser treatmentControl Engineering Practice, Vol. 128, p. 105320
    DOI: 10.1016/j.conengprac.2022.105320
  • Villanueva, M. E.; Müller, M. A. & Houska, B. (2022): Configuration-Constrained Tube MPCsubmitted
    arXiv: 2208.12554
  • Wolff, T. M.; Menzel, M.; Dietrich, J. W. & Müller, M. A. (2022): Treating Hyperthyroidism: Model Predictive Control for the Prescription of Antithyroid Agentssubmitted
    arXiv: 2212.10096
  • Wolff, T. M.; Veil, C.; Dietrich, J. W. & Müller, M. A. (2022): Mathematical Modeling and Simulation of Thyroid Homeostasis: Implications for the Allan-Herndon-Dudley SyndromeFrontiers in Endocrinology, Vol. 13, No. 882788
    DOI: 10.3389/fendo.2022.882788
  • Wolff, T.; Dietrich, J. W. & Müller, M. A. (2022): Optimal hormone replacement therapy in hypothyroidism - a model predictive control approachFrontiers in Endocrinology, 13: 884018
    DOI: 10.3389/fendo.2022.884018
  • Wolff, T.; Lopez, V. G. & Müller, M. A. (2022): Robust Data-Driven Moving Horizon Estimation for Linear Discrete-Time Systemssubmitted
    arXiv: 2210.09017
  • Becker, M.; Lilge, T.; Müller, M. A. & Haddadin, S. (2021): Circular Fields and Predictive Multi-Agents for Online Global Trajectory PlanningIEEE Robotics and Automation Letters, 2021, 6, 2618-2625
    DOI: 10.1109/LRA.2021.3061997
  • Berberich, J.; Köhler, J.; Müller, M. A. & Allgöwer, F. (2021): Data-driven model predictive control: closed-loop guarantees and experimental resultsat–Automatisierungstechnik, vol 69
    DOI: 10.1515/auto-2021-0024
  • Berberich, J.; Köhler, J.; Müller, M. A. & Allgöwer, F. (2021): Data-Driven Model Predictive Control With Stability and Robustness GuaranteesIEEE Transactions on Automatic Control, 2021, Vol. 66, No. 4, pp. 1702-1717
    DOI: 10.1109/TAC.2020.3000182
  • Grüne, L.; Müller, M. A.; Kellett, C. M. & Weller, S. (2021): Strict dissipativity for discrete time discounted optimal control problemsMathematical Control and Related Fields, Vol. 11, Iss. 4, pp. 771-796
    DOI: 10.3934/mcrf.2020046
  • Köhler, P. N.; Müller, M. A.; Pannek, J. & Allgöwer, F. (2021): Distributed economic model predictive control for cooperative supply chain management using customer forecast informationIFAC Journal of Systems and Control, Vol. 15, 100125
    DOI: 10.1016/j.ifacsc.2020.100125
  • Mordmüller, M.; Kleyman, V.; Schaller, M.; Wilson, M.; Theisen-Kunde, D.; Worthmann, K.; Müller, M. A. & Brinkmann, R. (2021): Towards temperature controlled retinal laser treament with a single 10kHz laserAdvanced Optical Technologies, Vol. 10, No. 6, pp. 423-431
    DOI: 10.1515/aot-2021-0041
  • Berberich, J.; Köhler, J.; Allgöwer, F. & Müller, M. A. (2020): Dissipativity properties in constrained optimal control: a computational approachAutomatica, vol. 114, Article 108840
    DOI: 10.1016/j.automatica.2020.108840
  • Brändle, S.; Schmitt, S. & Müller, M. A. (2020): A systems-theoretic analysis of low-level human motor control: application to a single-joint arm modelJournal of Mathematical Biology 80, 1139–1158
    DOI: 10.1007/s00285-019-01455-z
  • Kleyman, V.; Gernandt, H.; Worthmann, K.; Abbas, H. S.; Brinkmann, R. & Müller, M. A. (2020): Modeling and parameter identification for real-time temperature controlled retinal laser therapiesat - Automatisierungstechnik, 2020, 68, 953 - 966
    DOI: 10.1515/auto-2020-0074
  • Köhler, J.; Kötting, P.; Soloperto, R.; Allgöwer, F. & Müller, M. A. (2020): A robust adaptive model predictive control framework for nonlinear uncertain systemsInternational Journal of Robust and Nonlinear Control, Vol. 31, Issue 18, pp. 8725-8749
    DOI: 10.1002/rnc.5147
  • Köhler, J.; Müller, M. A. & Allgöwer, F. (2020): A nonlinear model predictive control framework using reference generic terminal ingredientsIEEE Transactions on Automatic Control, 2020, 65, 3576-3583
    DOI: 10.1109/TAC.2019.2949350
  • Köhler, J.; Müller, M. A. & Allgöwer, F. (2020): A nonlinear tracking model predictive control scheme for dynamic target SignalsAutomatica Vol. 118, Aritcle 109030
    DOI: 10.1016/j.automatica.2020.109030
  • Köhler, J.; Müller, M. A. & Allgöwer, F. (2020): Periodic optimal control of nonlinear constrained systems using economic model predictive controlJournal of Process Control, Vol. 92, pp. 185-201
    DOI: 10.1016/j.jprocont.2020.06.004
  • Köhler, J.; Soloperto, R.; Müller, M. A. & Allgöwer, F. (2020): A computationally efficient robust model predictive control framework for uncertain nonlinear systemsIEEE Transactions on Automatic Control
    DOI: 10.1109/TAC.2020.2982585
  • Pozzato, G.; Müller, M. A.; Formentin, S. & Savaresi, S. M. (2020): Economic MPC for online least costly energy management of hybrid electric vehiclesControl Engineering Practice, Vol.102, Article 104534
    DOI: 10.1016/j.conengprac.2020.104534
  • Villanueva, M. E.; De Lazzari, E.; Müller, M. A. & Houska, B. (2020): A set-theoretic generalization of dissipativity with applications in tube MPCAutomatica, 2020, 122, 109179
    DOI: 10.1016/j.automatica.2020.109179
  • Köhler, J.; Müller, M. A. & Allgöwer, F. (2019): Distributed model predictive control - Recursive feasibility under inexact dual optimizationAutomatica, vol. 102, pp. 1-9
    DOI: 10.1016/j.automatica.2018.12.037
  • Köhler, J.; Müller, M. A. & Allgöwer, F. (2019): Nonlinear reference tracking: An economic model predictive control perspectiveIEEE Trans. Automat. Control, vol. 64, no. 1, pp. 254-269.
    DOI: 10.1109/TAC.2018.2800789
  • Ma’touq, J.; Hu, T. & Haddadin, S. (2019): A Validated Combined Musculotendon Path and Muscle-Joint Kinematics Model for the Human HandComputer Methods in Biomechanics and Biomedical Engineering, vol. 0, no. 0, Taylor & Francis, pp. 1-13.
    DOI: 10.1080/10255842.2019.1588256
  • Wildhagen, S.; Müller, M. A. & Allgöwer, F. (2019): Predictive Control Over a Dynamical Token Bucket NetworkIEEE Control Systems Letters, vol. 3, no. 4, pp 859-864
    DOI: 10.1109/LCSYS.2019.2919264
  • Bayer, Florian A.; Müller, Matthias A. & Allgöwer, Frank (2018): On optimal system operation in robust economic MPCAutomatica, vol. 88, pp. 98 - 106.
    DOI: 10.1016/j.automatica.2017.11.007
  • Berberich, J.; Dietrich, J. W.; Hoermann, R. & Müller, M. A. (2018): Mathematical modeling of the pituitary-thyroid feedback loop: role of a TSH-T3-shunt and sensitivity analysisFrontiers in Endocrinology, vol. 9, pp. 91.
    DOI: 10.3389/fendo.2018.00091
  • Berberich, J.; Köhler, J.; Allgöwer, F. & Müller, M. A. (2018): Indefinite Linear Quadratic Optimal Control: Strict Dissipativity and Turnpike PropertiesIEEE Control Systems Letters, vol. 2, no. 3, pp. 399-404.
    DOI: 10.1109/LCSYS.2018.2842142
  • Brunner, F. D.; Müller, M. A. & Allgöwer, F. (2018): Enhancing Output-feedback MPC with Set-valued Moving Horizon EstimationIEEE Transactions on Automatic Control, vol. 63, no. 9, pp. 2976-2986.
    DOI: 10.1109/TAC.2018.2791899
  • Faulwasser, T.; Grüne, L. & Müller, M. A. (2018): Economic Nonlinear Model Predictive ControlFoundations and Trends in Systems and Control,, vol. 5, no. 1, pp. 1-98.
    DOI: 10.1561/2600000014
  • Haddadin, Sami and Krieger, Kai and Albu-Schäffer, Alin and Lilge, Torsten (2018): Exploiting Elastic Energy Storage for “Blind” Cyclic Manipulation: Modeling, Stability Analysis, Control and Experiments for DribblingIEEE Transactions on Robotics, Volume: 34, Issue: 1, Feb. 2018, 91-112 Weitere Informationen
    DOI: 10.1109/TRO.2017.2765684
  • Köhler, J.; Müller, M. A. & Allgöwer, F. (2018): On periodic dissipativity notions in economic model predictive controlIEEE Control Systems Letters, vol. 2, no. 3, pp. 501-506.
    DOI: 10.1109/LCSYS.2018.2842426
  • Köhler, P. N. ; Müller, M. A. & Allgöwer, F. (2018): A distributed economic MPC framework for cooperative control under conflicting objectivesAutomatica, 96, 368 - 379
    DOI: 10.1016/j.automatica.2018.07.001
  • Li, Y. and Ganesh, G.; Jarrasse, N.; Haddadin, S.; Albu-Schäffer, A. & Burdet, E. (2018): Force, Impedance and Trajectory Learning for Contact Tooling and Haptic IdentificationIEEE Transactions on Robotics, 34, 1170-1182
    DOI: 10.1109/TRO.2018.2830405
  • Ma'touq, J., Hu, T. and Haddadin, S. (2018): Sub-Millimetre Accurate Human Hand Kinematics: from Surface to SkeletonComputer Methods in Biomechanics and Biomedical Engineering, vol. 21, 2, 113-128 (Open Access)
    DOI: 10.1080/10255842.2018.1425996
  • Mansfeld, Nico; Hamad, Mazin; Becker, Marvin; Gonzales Marin, Antonio & Haddadin, Sami (2018): Safety Map: A Unified Representation for Biomechanics Impact Data and Robot Instantaneous Dynamic PropertiesIEEE Robotics and Automation Letters, vol. 3, no. 3, pages 1880-1887 Weitere Informationen
    DOI: 10.1109/LRA.2018.2801477
  • Wiedemann, L. G.; Jayaneththi, V. R.; Kimpton, J.; Chan, A.; Müller, M. A.; Hogan, A.; Lim, E.; Wilson, N. C. & McDaid, A. J. (2018): Neuromuscular characterisation in Cerebral Palsy using hybrid Hill-type models on isometric contractionsComputers in Biology and Medicine, vol. 103, pp. 269-276.
    DOI: 10.1016/j.compbiomed.2018.10.027
  • Haddadin, Sami (2017): Passivitätsbasierte Kraft- und Impedanzregelung für Roboter mit starren Gelenken mittels Energietanksat - Automatisierungstechnik, vol. 65, pp. 124-133
    DOI: 10.1515/auto-2016-0108
  • Haddadin, Sami and De Luca, Alessandro and Albu-Schäffer, Alin (2017): Robot Collisions: A Survey on Detection, Isolation, and IdentificationIEEE Transactions on Robotics, 33(6), 1292-1312 Weitere Informationen
    DOI: 10.1109/TRO.2017.2723903
  • Houska, B. & Müller, M. A. (2017): Cost-to-travel functions: a new perspective on optimal and model predictive controlSyst. Contr. Lett., vol. 106, pp. 79-86.
    DOI: 10.1016/j.sysconle.2017.06.005
  • Johannsmeier, L., Haddadin, S. (2017): A Hierarchical Human-Robot Interaction-Planning Framework for Task Allocation in Collaborative Industrial Assembly ProcessesIEEE Robotics and Automation Letters (RA-L), Volume 2, Issue 1, p. 41-48 Weitere Informationen
    DOI: 10.1109/LRA.2016.2535907
  • Kuehn, J., Haddadin, S. (2017): An Artificial Robot Nervous System To Teach Robots How To Feel Pain And Reflexively React To Potentially Damaging ContactsIEEE Robotics and Automation Letters (RA-L), Volume 2, Issue 1, p. 72 - 79. Weitere Informationen
    DOI: 10.1109/LRA.2016.2536360
  • Lorenzen, M.; Müller, M. A. & Allgöwer, F. (2017): Stochastic Model Predictive Control without Terminal ConstraintsInt. J. Robust and Nonlinear Control.
    DOI: 10.1002/rnc.3912
  • Müller, M. A. & Allgöwer, F. (2017): Economic and distributed model predictive control: recent developments in optimization-based controlSICE Journal of Control, Measurement, and System Integration, vol. 10, no. 2, pp. 39-52.
    DOI: 10.9746/jcmsi.10.39
  • Müller, Matthias A. (2017): Nonlinear moving horizon estimation in the presence of bounded disturbancesAutomatica, vol. 79, pp. 306 - 314.
    DOI: 10.1016/j.automatica.2017.01.033
  • Müller, Matthias A. & Worthmann, Karl (2017): Quadratic costs do not always work in MPCAutomatica, vol. 82, pp. 269 - 277.
    DOI: 10.1016/j.automatica.2017.04.058
  • Tomic, Teodor and Ott, Christian and Haddadin, Sami (2017): External Wrench Estimation, Interaction Control and Collision Reflexes for Flying RobotsIEEE Transactions on Robotics, 33(6), 1467-1482
    DOI: 10.1109/TRO.2017.2750703
  • Bayer, F. A.; Lorenzen, M.; Müller, M. A. & Allgöwer, F. (2016): Robust Economic Model Predictive Control using Stochastic InformationAutomatica, vol. 74, pp. 151-161.
    DOI: 10.1016/j.automatica.2016.08.008
  • Grüne, L. & Müller, M. A. (2016): On the relation between strict dissipativity and turnpike propertiesSystem & 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
  • Müller, M. A. & Grüne, L. (2016): Economic model predictive control without terminal constraints for optimal periodic behaviorAutomatica, vol. 70, pp. 128-139.
    DOI: 10.1016/j.automatica.2016.03.024
  • Tödtheide, A., Lilge, T., Haddadin, S. (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
  • Müller, M. A.; Angeli, D. & Allgöwer, F. (2015): On necessity and robustness of dissipativity in economic model predictive controlIEEE Trans. Automat. Control, vol. 60, no. 6, pp. 1671-1676.
    DOI: 10.1109/TAC.2014.2361193
  • Müller, M. A.; Liberzon, D. & Allgöwer, F. (2015): Norm-controllability of nonlinear systemsIEEE Trans. Automat. Control, vol. 60, no. 7, pp. 1825-1840.
    DOI: 10.1109/TAC.2015.2394953
  • Povse, B.; Haddadin, S.; Belder, R.; Koritnik, D. & Bajd, T. (2015): A Tool for Evaluation of Human Lower Arm Injury: Approach, Experimental Validation and Application to Safe RoboticsRobotica
    DOI: 10.1017/S0263574715000156
  • Vogel, J., Haddadin, S., Jarosiewicz, B., Simeral, J.D., Bacher, D., Hochberg, L.R., Donoghue, J.P., van der Smagt, P. (2015): An Assistive Decision and Control Architecture for Force-Sensitive Hand-Arm Systems driven via Human-Machine InterfacesThe International Journal of Robotics Research, vol. 34 no. 6, 763-780
    DOI: 10.1177/0278364914561535
  • Bayer, F.; Müller, M. A. & Allgöwer, F. (2014): Tube-based Robust Economic Model Predictive ControlJ. Proc. Contr., vol. 24, no. 8, pp. 1237-1246.
    DOI: 10.1016/j.jprocont.2014.06.006
  • Haddadin, S., Haddadin, S., Khoury, A., Rokahr, T., Parusel, S., Burgkart, R., Bicchi, A. & Albu-Schäffer, A. (2014): Biomechanisch sichere Geschwindigkeitsregelung für die Mensch-Roboter Interaktionat - Automatisierungstechnik, vol. 62, pp. 175-187.
    DOI: 10.1515/auto-2012-0236
  • Müller, M. A.; Angeli, D. & Allgöwer, F. (2014): On the performance of economic model predictive control with self-tuning terminal costJ. Proc. Contr., vol. 24, no. 8, pp. 1179-1186.
    DOI: 10.1016/j.jprocont.2014.05.009
  • Müller, M. A.; Angeli, D. & Allgöwer, F. (2014): Transient average constraints in economic model predictive controlAutomatica, vol. 50, no. 11, pp. 2943-2950.
    DOI: 10.1016/j.automatica.2014.10.024
  • Müller, M. A.; Angeli, D.; Allgöwer, F.; Amrit, R. & Rawlings, J. B. (2014): Convergence in economic model predictive control with average constraintsAutomatica, vol. 50, no. 12, pp. 3100-3111.
    DOI: 10.1016/j.automatica.2014.10.059
  • Park, J.-J., Song, J.-B. & Haddadin, S. (2014): Collision analysis and safety evaluation using a collision model for the frontal robot-human impactRobotica, vol. 32.
    DOI: 10.1017/S0263574714000137
  • Müller, M. A.; Angeli, D. & Allgöwer, F. (2013): Economic model predictive control with self-tuning terminal costEuropean J. Control, vol. 19, no. 5, pp. 408-416.
    DOI: 10.1016/j.ejcon.2013.05.019
  • Müller, M. A. & Allgöwer, F. (2012): Improving performance in model predictive control: Switching cost functionals under average dwell-timeAutomatica, vol. 48, no. 2, pp. 402-409.
    DOI: 10.1016/j.automatica.2011.11.005
  • Müller, M. A. & Dominguez-Garcia, A. D. (2012): Fault coverage modeling in nonlinear dynamical systemsAutomatica, vol. 48, no. 7, pp. 1372-1379.
    DOI: 10.1016/j.automatica.2012.04.007
  • Müller, M. A. & Liberzon, D. (2012): Input/output-to-state stability and state-norm estimators for switched nonlinear systemsAutomatica, vol. 48, no. 9, pp. 2029-2039.
    DOI: 10.1016/j.automatica.2012.06.026
  • Müller, M. A.; Martius, P. & Allgöwer, F. (2012): Model predictive control of switched nonlinear systems under average dwell-timeJ. Proc. Contr., vol. 22, no. 9, pp. 1702-1710.
    DOI: 10.1016/j.jprocont.2012.07.004
  • Müller, M. A.; Reble, M. & Allgöwer, F. (2012): Cooperative control of dynamically decoupled systems via distributed model predictive controlInt. J. Robust and Nonlinear Control, vol. 22, no. 12, pp. 1376-1397.
    DOI: 10.1002/rnc.2826
  • Höhn, O. & Gerth, W. (2009): Probabilistic Balance Monitoring for Bipedal RobotsThe International Journal of Robotics Research, vol. 28, no. 2, Feb, pp. 245-256.
    DOI: 10.1177/0278364908095170
  • Albert, A. & Gerth, W. (2003): Real-Time Performance of CAN and TTCANIn Taylor, M. (Ed.): CAN Newsletter, no. 4, Dez., CAN in Automation GmbH, pp. 12-18. Weitere Informationen
  • Albert, A. & Gerth, W. (2003): Bewegungsalgorithmen für zweibeinige Roboter ohne Oberkörperat -- Automatisierungstechnik, vol. 51, no. 1, pp. 13-21.
    DOI: 10.1524/auto.51.1.13.18873
  • Albert, A. & Gerth, W. (2003): Analytic Path Planning Algorithms for Bipedal Robots Without a TrunkJournal of Intelligent and Robotic Systems, vol. 36, no. 2, Feb., pp. 109-127.
    DOI: 10.1023/A:1022600522613
  • Albert, A., Gerecke, M., Gerth, W., Hofschulte, J., Lilge, T. & Strasser, R. (2003): Investigation of Bipedal Walking for Autonomous Service RobotsSPIE - Robotics and Machine Perception Newsletter, vol. 12, no. 1, March, pp. 11-12.
  • Albert, A., Wolter, B. & Gerth, W. (2003): Distinctness of Reaction -- Ein Messverfahren zur Beurteilung von Echtzeitsystemen (Teil 2)at -- Automatisierungstechnik, vol. 51, no. 10, pp. 445-452.
    DOI: 10.1524/auto.51.10.445.19578
  • Strasser, R. & Seebode, M. (2003): Inertial Measureing Unit Based on Low-Cost SensorsTNT -- Tips & Trends, no. 3, SASCO, pp. 31-33.
  • Wolter, B., Albert, A. & Gerth, W. (2003): Distinctness of Reaction -- Ein Messverfahren zur Beurteilung von Echtzeitsystemen (Teil 1)at -- Automatisierungstechnik, vol. 51, no. 9, pp. 396-403.
    DOI: 10.1524/auto.51.9.396.22721
  • Huijberts, H., Lilge, T. & Nijmeijer, H. (2001): Nonlinear Discrete-Time Synchronization Via Extended ObserversInternational Journal of Bifurcation and Chaos, vol. 11, no. 7, Jul, pp. 1997-2006.
    DOI: doi:10.1142/S0218127401003218
  • Albert, A. & Hofschulte, J. (2000): Trajektorienplanung für Bewegungen eines autonomen, zweibeinigen Roboters im menschlichen Lebensraumat -- Automatisierungstechnik, vol. 48, no. 6, pp. 296-304.
    DOI: doi:10.1524/auto.2000.48.6.296
  • Scherm, N. & Heimann, B. (2000): Dynamics and control of underactuated manipulation systems: A discrete-time approachRobotics and Autonomous Systems, vol. 30, no. 3, pp. 237-248.
    DOI: 10.1016/S0921-8890(99)00089-5
  • Albert, A. & Wolter, B. (1999): RTOS-UH für das Multitalent MPC555In Holleczek, P. (Ed.): Mitteilungen der GI-Fachgruppe 4.4.2: Echtzeitprogrammierung PEARL, ISSN 1437-5966, Bonn, Gesellschaft für Informatik e.V..
  • Albert, A. & Wolter, B. (1999): Multitalent MPC555: Schneller durch Gleitkomma-EinheitElektronik, no. 15, pp. 48-53.
  • Beuse, M., Kopmann, A., Diekmann, H. & Thoma, M. (1999): Oxygen, pH Value, and Carbon Source Induced Changes of the Mode of Oscillation in Synchronous Continuous Culture of Saccharomyces cerevisiaeBiotechnology and Bioengineering, vol. 63, no. 4, pp. 410-417.
    DOI: 10.1002/(SICI)1097-0290(19990520)63:4<410::AID-BIT4>3.0.CO;2-R
  • Huijberts, H., Lilge, T. & Nijmeijer, H. (1999): A control perspective on synchronization and the Takens-Aeyels-Sauer Recontruction TheoremPhysical Review E, vol. 59, no. 4, April, pp. 4691-4694. Weitere Informationen
    DOI: 10.1103/PhysRevE.59.4691
  • Beuse, M., Bartling, R., Kopmann, A., Diekmann, H. & Thoma, M. (1998): Effect of the dilution rate on the mode of oscillation in continuous cultures of Saccharomyces cerevisiaeJournal of Biotechnology, vol. 61, pp. 15-31.
    DOI: 10.1016/S0168-1656(98)00016-9
  • Lilge, T. (1998): On observer design for nonlinear discrete-time systemsEuropean Journal of Control, vol. 4, no. 4, pp. 306-319.
    DOI: 10.1016/S0947-3580(98)70124-4
  • Probol, T. & Gerth, W. (1998): Durch abbrechbare Systemaufrufe zu minimalen AntwortzeitenElektronik, no. 13, pp. 114-120.
  • Probol, T. & Wolter, B. (1997): Industrielle Prozesse mit 20KHz regelnSysteme, vol. 11, no. 10, pp. 34-36.
  • Lichtenberg, M. (1994): Generierung kennliniengleicher Fuzzy-Regler aus den Parametern konventioneller (PID-)Reglerat -- Automatisierungstechnik, vol. 42, no. 12, pp. 540-546.
  • Gralla, C. & Lilge, T. (1992): Digitale Regelungen erfordern eine gute äquidistanz zyklisch eingeplanter ProzesseVMEbus, vol. 5, no. 2, pp. 44-50.
  • Isaacs, S. H. & Thoma, M. (1992): The adaptive control of an airlift tower loop fermenter: an application of model-based control employing a sophisticated process modelChemical Engineering Sience, vol. 47, no. 4, pp. 943-958.
  • Isaacs, S. H., Munack, A. & Thoma, M. (1992): Fast Algorithms for the Identification of Parameters in a Model of the External Loop Airlift FermenterComputers Chemical Engineering, vol. 16, no. 3, pp. 141-154.
    DOI: 10.1016/0098-1354(92)85002-P
  • Kluge, M. & Thoma, M. (1992): Zielmengenregelung: Ein neues Konzept zur Regelung von Batch-ProzessenChemie Ingenieur Technik, vol. 64, no. 6, pp. 540-543.
    DOI: DOI:10.1002/cite.330640612
  • Kluge, M., Siegmund, D., Diekmann, H. & Thoma, M. (1992): A model for penicillin production with and without temperature shift after the growth phaseApplied Microbiology and Biotechnology, vol. 36, pp. 446-451.
    DOI: 10.1007/BF00170180
  • Gerdes, M., Kluge, M., Partenscky, H. W., Tautenhain, E. & Thoma, M. (1991): Prozeßrechnergestützte Regelung einer Wellenmaschineat -- Automatisierungstechnik, vol. 39, pp. 147 - 150.
  • Husmann, H. (1991): Anwendungsschicht für Feldbussysteme unter RTOS-UHElektronik, no. 25, pp. 158 - 164.
  • Kluge, M. & Thoma, M. (1991): Beobachtergestützte Regelung eines DoppelpendelsAutomatisierungstechnik at, vol. 39, no. 9, pp. 304 - 309.
  • Gerth, W. & Niemann, K. H. (1990): PEARL-Programme laufen ohne änderungenVMEbus, vol. 4, no. 1, pp. 38 - 49.
  • Kluge, M. & Thoma, M. (1990): Aufschwingen eines Pendels mit strukturvariablem Reglerat -- Automatisierungstechnik, vol. 38, pp. 114 - 117.
  • Gerth, W. & Niemann, K. H. (1989): Fragen zur Bewertung von Echtzeitbetriebssystemen - Daten einer HochsprachenrealisierungIn Huttenloher, R. & Fey, J. (Ed.): Echtzeitbetriebssysteme, Verlag Markt & Technik, pp. 31 - 44.
  • Gerth, W. & Niemann, K. H. (1989): Ein Echtzeitbetriebssystem für PEARLVMEbus, vol. 3, no. 5, pp. 81 - 86.
  • Gerth, W. & Niemann, K. H. (1989): Bewertung von EchtzeitbetriebssystemenDesign & Elektronik, no. 26, pp. 60 - 66.
  • Niemann, K.-H. (1988): Rennquartett - RTOS-PEARL für Multiprozessorenc't Magazin für Computertechnik, vol. 11, pp. 80 - 86.
  • Niemann, K.-H. (1988): Ein einheitliches PEARL Programmiersystem vom PC bis zum MultiprozessorPersonal-Realtime-Computing '88, Markt & Technik Verlag, Haar, pp. 57 - 67.
  • Thoma, M. (1988): Regelungs- und Prozeßrechnertechnik - interdisziplinärBioEngineering, no. 3, pp. 184 - 186.
  • Hilgendorf, P., Heiser, V., Diekmann, H. & Thoma, M. (1987): Constant dissolved oxygen concentrations in cephalosporin C fermentation: Applicability of different controllers and effect on fermentation parametersApplied Microbiology and Biotechnology, no. 27, pp. 247 - 251.
    DOI: 10.1007/BF00252926
  • Isaacs, S., Munack, A. & Thoma, M. (1987): Use of Orthogonal Collocation Approximation for Parameter Identification and Control Optimization of a Distributed Parameter Biological ReactorBiotechnology Progress, vol. 3, no. 4, pp. 248 - 258.
    DOI: 10.1002/btpr.5420030409
  • Niemann, K.-H. & Hausdörfer, R. (1987): Echtzeitdatenverarbeitung mit RTOS-PEARLChip Plus 7, Vogel Verlag, Würzburg, pp. 18 - 21.
  • Ronge, P. & Thoma, M. (1987): Über die angenäherte Lösung nichtlinearer Regelungsprobleme mittels Zustandsraumverfahren und Reihenentwicklungenat -- Automatisierungstechnik, vol. 34, no. 8, pp. 242 - 249.
    DOI: 10.1524/auto.1987.35.112.246
  • Thoma, M. (1987): IFAC-Weltkongreß in Münchenat -- Automatisierungstechnik, vol. 34, no. 6, pp. 261.
  • Bellgardt, K.-H., Kuhlmann, W., Meyer, H.-D., Schügerl, K. & Thoma, M. (1986): For Application of an extended Kalman Filter for state estimation of a yeast fermentationIEE Proceedings-D, Control Theory and Applications, vol. 133, Part D, no. 5, pp. 226 - 234.
    DOI: 10.1049/ip-d:19860037
  • Munack, A. & Thoma, M. (1986): Application of modern control for biotechnological processesIEE Proceedings-D: Control Theory and Applications, vol. 133, Part D, no. 5, pp. 194 - 198.
    DOI: 10.1049/ip-d:19860033
  • Niemann, K.-H. & Hausdörfer, R. (1986): EchtzeitkomfortHard und Soft, no. 7/8, pp. 11 - 15.
  • Nothdurft, J. & Thoma, M. (1986): Zweiebenen-Regelung mittels ordnungsreduzierter Modellemsr messen-steuern-regeln, no. 8, pp. 360 - 362.
  • Posten, C. & Thoma, M. (1986): Modellierung des Stoffwechsels von Zymomonas mobilisBIO ENGINEERING, no. 3, pp. 22 - 28.
  • Scheiding, W., Thoma M., Ross, A. & Schügerl, K. (1986): Modelling of the Growth of Trichoderma reesei QM 9414 on glucose and celluloseJournal of Biotechnology, vol. 4, pp. 101 - 116.
    DOI: 10.1016/0168-1656(86)90022-2
  • Scheiding, W., Thoma, M., Hecht, V., Rosen, W. & Schügerl, K. (1986): Mathematical Description of the behaviour of Chaetomium cellulolyticum: modelling of the growth on glucose and cellulose substrateIEE Proceedings-D: Control Theory and Applications, vol. 133, Part D, no. 5, pp. 199 - 209.
    DOI: 10.1049/ip-d:19860034
  • Gerth, W. & Hausdörfer, R. (1985): c't68000 - Multitasking und Echtzeit (Teil 1)c't, no. 3, pp. 36-39.
  • Gerth, W. & Hausdörfer, R. (1985): c't68000 - Multitasking und Echtzeit (Teil 2)c't, no. 4, pp. 62-65.
  • Scheiding, W., Thoma, M., Hecht, V., Rosen, W. & Schügerl, K. (1985): Growth of Chaetomium cellulolyticum on glucose substrateApplied Microbiology and Biotechnology, vol. 21, pp. 299-308.
    DOI: 10.1007/BF00252708
  • Scheiding, W., Thoma, M., Hecht, V., Rosen, W. & Schügerl, K. (1985): Mathematical model for the continuous cultivation of Chaetomium cellulolyticumJournal of Biotechnology, vol. 2, pp. 207-224.
    DOI: 10.1016/0168-1656(85)90039-2
  • Gerth, W. (1983): PEARL-System für EinplatinenrechnerRegelungstechnische Praxis, vol. 25, pp. 490.

Konferenzbeiträge

  • Alsalti, M.; Lopez, V. G.; Berberich, J.; Allgöwer, F. & Müller, M. A. (2023): Data-driven nonlinear predictive control for feedback linearizable systems22nd 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
  • Becker, M.; Caspers, P.; Hattendorf, T.; Lilge, T.; Haddadin, S. & Müller, M. A. (2023): Informed Circular Fields for Global Reactive Obstacle Avoidance of Robotic Manipulators22nd IFAC World Congress: Yokohama, Japan, July 9-14, 2023. IFAC-PapersOnLine, Vol. 56, Issue 2, pp. 1017-1022
    DOI: 10.1016/j.ifacol.2023.10.1698
    arXiv: 2212.05815
  • Buschermöhle, P.; Lilge, T. & Müller, M. A. (2023): Robust model predictive control for linear sampled-data systems with irregular sampling times22nd IFAC World Congress: Yokohama, Japan, July 9-14, 2023. IFAC-PapersOnLine, Vol. 56, Issue 2, pp. 9399-9404
    DOI: 10.1016/j.ifacol.2023.10.231
  • Lopez, V. G. & Müller, M. A. (2023): An efficient off-policy reinforcement learning algorithm for the continuous-time LQR problemAccepted for IEEE 62nd Conference on Decision and Control (CDC)
    arXiv: 2303.17819
  • Menzel, M.; Wolff, T. M.; Dietrich, J. W. & Müller, M. A. (2023): Model predictive control for the prescription of antithyroid agentsProceedings on Automation in Medical Engineering Weitere Informationen
    arXiv: 2307.16690
  • Nonhoff, M.; Köhler, J. & Müller, M. A. (2023): Online convex optimization for constrained control of linear systems using a reference governor22nd IFAC World Congress: Yokohama, Japan, July 9-14, 2023. IFAC PapersOnLine, Vol. 56, Issue 2, pp 2570-2575
    DOI: 10.1016/j.ifacol.2023.10.1340
    arXiv: 2211.09088
  • Schiller, J. D. & Müller, M. A. (2023): A moving horizon state and parameter estimation scheme with guaranteed robust convergence22nd IFAC World Congress: Yokohama, Japan, July 9-14, 2023. IFAC-PapersOnLine, Vol. 56, Issue 2, pp. 6759-6764
    DOI: 10.1016/j.ifacol.2023.10.382
    arXiv: 2211.09053
  • Wolff, T. M. & Lopez, V. G. & Müller, M. A. (2023): Robust Stability of Gaussian Process Based Moving Horizon EstimationAccepted for IEEE 62nd Conference on Decision and Control (CDC)
    arXiv: 2304.06530
  • Berberich, J.; Köhler, J.; Müller, M. A. & Allgöwer, F. (2022): Stability in data-driven MPC: an inherent robustness perspective2022 IEEE 61st Conference on Decision and Control (CDC), pp. 1105-1110
    DOI: 10.1109/CDC51059.2022.9993361
  • Köhler, M.; Berberich, J.; Müller, M. A. & Allgöwer, F. (2022): Data-driven distributed MPC of dynamically coupled linear systemsIFAC-PapersOnLine, Vol. 55, Issue 30, pp. 365-370, 25th International Symposium on Mathematical Theory of Networks and Systems (MTNS 2022)
    DOI: 10.1016/j.ifacol.2022.11.080
  • Krauss, I.; Lopez, V. G. & Müller, M. A. (2022): Sample-based observability of linear discrete-time systems2022 IEEE 61st Conference on Decision and Control (CDC)
    DOI: 10.1109/CDC51059.2022.9993267
  • Lopez, V. G. & Müller, M. A. (2022): On a continuous-time version of Willems' lemmaIEEE 61st Conference on Decision and Control (CDC), pp. 2759-2764
    DOI: 10.1109/CDC51059.2022.9992347
  • Wolff, T. M.; Lopez, V. G. & Müller, M. A. (2022): Data-Based Moving Horizon Estimation for Linear Discrete-Time Systems2022 European Control Conference (ECC), pp. 1778-1783
    DOI: 10.23919/ecc55457.2022.9838331
    arXiv: 2111.04979
  • Alsalti, M.; Berberich, J.; Lopez, V. G.; Allgöwer, F. & Müller, M. A. (2021): Data-Based System Analysis and Control of Flat Nonlinear Systems60th IEEE Conference on Decision and Control (CDC), pp. 1484-1489
    DOI: 10.1109/CDC45484.2021.9683327
    arXiv: 2103.02892
  • Berberich, J.; Köhler, J.; Müller, M. A. & Allgöwer, F. (2021): On the design of terminal ingredients for data-driven MPCIFAC-PapersOnLine, Volume 54, Issue 6, Pages 257-263. Proc. of the 7th IFAC Conference on Nonlinear Model Predictive Control (NMPC)
    DOI: 10.1016/j.ifacol.2021.08.554
  • Kleyman, V.; Schaller, M; Wilson, M; Mordmüller, M.; Brinkmann, R.; Worthmann, K. & Müller, M. A. (2021): State and parameter estimation for model-based retinal laser treatment7th IFAC Conference on Nonlinear Model Predictive Control NMPC 2021, IFAC-PapersOnLine, Vol. 54, Issue 6, pp. 244-250
    DOI: 10.1016/j.ifacol.2021.08.552
    arXiv: 2103.03189
  • Klöppelt, C.; Schwenkel, L.; Allgöwer, F. & Müller, M. A. (2021): Transient Performance of Tube-based Robust Economic Model Predictive Control7th IFAC Conference on Nonlinear Model Predictive Control NMPC 2021, IFAC-PapersOnline, Vol. 54, Issue 6, pp. 28-35
    DOI: 10.1016/j.ifacol.2021.08.520
    arXiv: 2102.09404
  • Nonhoff, M. & Müller, M. A. (2021): Data-driven online convex optimization for control of dynamical systems2021 60th IEEE Conference on Decision and Control (CDC), 2021, 3640-3645
    DOI: 10.1109/CDC45484.2021.9683550
    arXiv: 2103.09127
  • Nonhoff, M. & Müller, M. A. (2021): An online convex optimization algorithm for controlling linear systems with state and input constraints2021 American Control Conference (ACC), pp. 2523-2528
    DOI: 10.23919/ACC50511.2021.9482877
    arXiv: 2005.11308
  • Schiller, J. D.; Knüfer, S. & Müller, M. A. (2021): Robust Stability of Suboptimal Moving Horizon Estimation using an Observer-Based Candidate SolutionIFAC-PapersOnLine, Vol. 54, Issue 6, pp. 226-231
    DOI: 10.1016/j.ifacol.2021.08.549
  • Berberich, J.; Köhler, J.; Müller, M. A. & Allgöwer, F. (2020): Robust Constraint Satisfaction in Data-Driven MPCIn Proceedings of the 59th IEEE Conference on Decision and Control (CDC), pp. 1260-1267 (Outstanding Student Paper Award).
    DOI: 10.1109/CDC42340.2020.9303965
  • Camisa, A.; Köhler, P. N.; Müller, M. A.; Notarstefano, G. & Allgöwer, F. (2020): A distributed optimization algorithm for Nash bargaining in multi-agent systems21st IFAC World Congress, Vol. 53, Issue 2, pp. 2684-2689
    DOI: 10.1016/j.ifacol.2020.12.402
  • Hirche, M.; Köhler, P. N.; Müller, M. A. & Allgöwer, F. (2020): Distributed Model Predictive Control for Consensus of Constrained Heterogeneous Linear SystemsIn Proceedings of 59th IEEE Conference on Decision and Control (CDC), pp. 1248-1253
    DOI: 10.1109/CDC42340.2020.9303838
  • J. Köhler, M. A. Müller and F. Allgöwer (2020): Implicit solutions to constrained nonlinear output regulation using MPCIn Proceedings of 59th IEEE Conference on Decision and Control (CDC), pp. 4604-4609
    DOI: 10.1109/CDC42340.2020.9303983
  • Julian Berberich, Johannes Köhler, Matthias A. Müller, Frank Allgöwer (2020): Data-Driven Tracking MPC for Changing Setpoints21st IFAC World Congress, Vol. 53, Issue 2, pp. 6923-6930
    DOI: 10.1016/j.ifacol.2020.12.389
  • Knüfer, S. & Müller, M. A. (2020): Time-Discounted Incremental Input/Output-to-State StabilityIn Proceedings of 59th IEEE Conference on Decision and Control (CDC), pp. 5394-5400
    DOI: 10.1109/CDC42340.2020.9304034
  • Nonhoff, M. & Müller, M. A. (2020): Online Gradient Descent for Linear Dynamical Systems21st IFAC World Congress, Vol. 53, Issue 2, pp. 945-952
    DOI: 10.1016/j.ifacol.2020.12.1258
  • Pavlov, A.; Müller, M. A.; Manzie, C. & Shames I. (2020): Complexity minimisation of suboptimal MPC without terminal constraints21st IFAC World Congress, Vol. 53, Issue 2, pp. 6089-6094
    DOI: 10.1016/j.ifacol.2020.12.1682
  • Pozzato, G.; Müller, M. A.; Formentin, S. & Savaresi, S. (2020): On Strict Dissipativity of Systems Modeled by Convex Difference Inclusions: Theory and Application to Hybrid Electric Vehicles21st IFAC World Congress, Vol. 53, Issue 2, pp. 14211-14216
    DOI: 10.1016/j.ifacol.2020.12.1058
  • Schwenkel, L.; Köhler, J.; Müller, M. A. & Allgöwer, F. (2020): Dynamic uncertainties in model predictive control: Guaranteed stability for constrained linear systems2020 In Proceedings of the 59th IEEE Conference on Decision and Control (CDC)
    DOI: 10.1109/CDC42340.2020.9303819
  • Schwenkel, L.; Köhler, J.; Müller, M. A. & Allgöwer, F. (2020): Robust Economic Model Predictive Control without Terminal Conditions21st IFAC World Congress, Vol. 53, Issue 2, pp. 7097-7104
    DOI: 10.1016/j.ifacol.2020.12.465
  • Busch, A.; Kleyman, V.; Wielitzka, M. & Ortmaier, T. (2019): Adaptive model predictive traction control for electric vehicles18th European Control Conference (ECC 2019), pp. 1239-1244
    DOI: 10.23919/ECC.2019.8795687
  • Johannsmeier, L.; Gerchow, M. & Haddadin, S. (2019): A Framework for Robot Manipulation: Skill Formalism, Meta Learning and Adaptive Control2019 International Conference on Robotics and Automation (ICRA), pp. 5844-5850
    DOI: 10.1109/ICRA.2019.8793542
  • Köhler, J.; Müller, M. A. & Allgöwer, F. (2019): A simple framework for nonlinear robust output-feedback MPC18th European Control Conference (ECC 2019), pp. 793-798
    DOI: 10.23919/ECC.2019.8795965
  • Köhler, Johannes; Andina, Elisa; Soloperto, Raffaele, Müller, Matthias A. & Allgöwer, Frank (2019): Linear robust adaptive model predictive control: Computational complexity and conservatism58th IEEE Conference on Decision and Control (CDC)
    DOI: 10.1109/CDC40024.2019.9028970
  • Köhler, P. N.; Müller, M. A. & Allgöwer, F. (2019): Approximate dissipativity and performance bounds for interconnected systems18th European Control Conference (ECC 2019), pp. 787-792
    DOI: 10.23919/ECC.2019.8796123
  • Köhler, P. N.; Müller, M. A. & Allgöwer, F. (2019): Graph topology and subsystem centrality in approximately dissipative system interconnections58th IEEE Conference on Decision and Control (CDC)
    DOI: 10.1109/CDC40024.2019.9029400
  • Linsenmeyer, Steffen & Müller, Matthias A. & Ishii, Hideaki & Allgöwer, Frank (2019): Event-based Containability for Linear Systems with Arbitrarily Small Bit Rates8th IFAC Workshop on Distributed Estimation and Control in Networked Systems (NecSys), Vol. 52, Issue 20, pp. 31-36
    DOI: 10.1016/j.ifacol.2019.12.138
  • Neureuther, Philip L.; Ederer, Michael; Selig, Peter & Müller, Matthias A. (2019): Modeling of a RF Surgical Generator based on a Push-Pull OscillatorJoint 8th IFAC Symposium on Mechatronic Systems and 11th IFAC Symposium on Nonlinear Control Systems, Vol. 52, Issue 15, pp. 382-387
    DOI: 10.1016/j.ifacol.2019.11.705
  • Soloperto, R.; Köhler; J.; Müller; M. A. & Allgöwer, F. (2019): Collision avoidance for uncertain nonlinear systems and moving obstacles using robust Model Predictive Control18th European Control Conference (ECC 2019), pp. 811-817
    DOI: 10.23919/ECC.2019.8796049
  • Soloperto, Raffaele; Köhler, Johannes; Müller, Matthias A. & Allgöwer, Frank (2019): Dual Adaptive MPC for output tracking of linear systems58th IEEE Conference on Decision and Control (CDC)
    DOI: 10.1109/CDC40024.2019.9029693
  • Wildhagen, Stefan; Müller, Matthias A. & Allgöwer, Frank (2019): Economic MPC using a Cyclic Horizon with Application to Networked Control SystemsJoint 8th IFAC Symposium on Mechatronic Systems and 11th IFAC Symposium on Nonlinear Control Systems, Vol. 52, Issue 16, pp. 502-507
    DOI: 10.1016/j.ifacol.2019.12.011
  • Grassmann, R.; Johannsmeier, L.; & Haddadin, S. (2018): Smooth Point-to-Point Trajectory Planning in SE(3) with Self-Collision and Joint Constraints Avoidance2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 1-9
    DOI: 10.1109/IROS.2018.8594339
  • Hu, Tingli; and Kühn, Johannes; and Ma'touq, Jumana & Haddadin, Sami (2018): Learning and Identification of human upper-limb muscle synergies in daily-life tasks with autoencodersOTWorld Congress, Leipzig, Germany, 15.-18. May, Weitere Informationen
    DOI: 10.15488/3679
  • Knüfer, S. & Müller, M. A. (2018): Robust Global Exponential Stability for Moving Horizon EstimationProc. 57th IEEE Conf. Decision and Control (CDC), pp. 3477-3482.
    DOI: 10.1109/CDC.2018.8619617
  • Köhler, J.; Müller, M. A. & Allgöwer, F. (2018): Nonlinear Reference Tracking with Model Predictive Control: An Intuitive ApproachProc. European Control Conf. (ECC), Limassol, Cyprus, pp. 1355-1360.
    DOI: 10.23919/ECC.2018.8550428
  • Köhler, J.; Müller, M. A. & Allgöwer, F. (2018): A novel constraint tightening approach for nonlinear robust model predictive controlProc. American Control Conf. (ACC), Milwaukee, Wisconsin, pp. 728-734.
    DOI: 10.23919/ACC.2018.8431892
  • Köhler, J.; Müller, M. A. & Allgöwer, F. (2018): MPC for nonlinear periodic tracking using reference generic offine computationsProc. IFAC Conf. Nonlinear Model Predictive Control (NMPC), vol. 51, no. 20, Madison, Wisconsin, pp. 556-561.
    DOI: 10.1016/j.ifacol.2018.11.032
  • Köhler, P. N. & Müller, M. A. & Allgöwer, F. (2018): Interconnections of dissipative systems and distributed economic MPCIFAC-PapersOnLine, vol. 51, no. 20, 86-91 (6th IFAC Conference on Nonlinear Model Predictive Control NMPC 2018)
    DOI: 10.1016/j.ifacol.2018.10.179
  • Kühn, Johannes; Hu, Tingli; Schappler, Moritz & Haddadin, Sami (2018): Dynamics Simulation for an Upper-Limb Human-Exoskeleton Assistance System in a Latent-Space Controlled Tool Manipulation TaskIEEE International Conference on Simulation, Modeling, and Programming for Autonomous Robots (SIMPAR), pp. 158-165 Weitere Informationen
    DOI: 10.1109/SIMPAR.2018.8376286
  • Shahriari, E.; Johannsmeier, L. & Haddadin, S. (2018): Valve-based Virtual Energy Tanks: A Framework to Simultaneously Passify Controls and Embed Control Objectives2018 Annual American Control Conference (ACC), pp. 3634-3641
    DOI: 10.23919/ACC.2018.8431718
  • Soloperto, Raffaele; Müller, Matthias A.; Trimpe, Sebastian & Allgöwer, Frank (2018): Learning-Based Robust Model Predictive Control with State-Dependent UncertaintyIFAC-PapersOnLine, vol. 51, no. 20, 442 - 447 (6th IFAC Conference on Nonlinear Model Predictive Control NMPC 2018)
    DOI: 10.1016/j.ifacol.2018.11.052
  • Wabersich, K. P.; Bayer, F. A.; Müller, M. A. & Allgöwer, F. (2018): Economic model predictive control for robust periodic operation with guaranteed closed-loop performanceProc. European Control Conf. (ECC), Limassol, Cyprus, pp. 507-513.
    DOI: 10.23919/ECC.2018.8550262
  • Diaz Ledezma, Fernando & Haddadin, Sami (2017): First-Order-Principles-Based Constructive Network Topologies: An Application to Robot Inverse DynamicsIEEE RAS International Conference on Humanoid Robots, Birmingham, UK, 438-445
    DOI: 10.1109/HUMANOIDS.2017.8246910
  • Köhler, J.; Müller, M. A.; Li, Na & Allgöwer, F. (2017): Real Time Economic Dispatch for power networks: A Distributed Economic Model Predictive Control ApproachProc. 56th IEEE Conf. Decision and Control (CDC), Melbourne, Victoria, Australia, pp. 6340-6345.
    DOI: 10.1109/CDC.2017.8264615
  • Köhler, P. N.; Müller, M. A. & Allgöwer, F. (2017): Transient performance of economic model predictive control with average constraintsProc. 56th IEEE Conf. Decision and Control (CDC), Melbourne, Victoria, Australia, pp. 5557-5562.
    DOI: 10.1109/CDC.2017.8264484
  • Köhler, P. N.; Müller, M. A.; Pannek, J. & Allgöwer, F. (2017): On Exploitation of Supply Chain Properties by Sequential Distributed MPC.Proc. of the 20th IFAC World Congress, vol. 50, no. 1, Toulouse, France, pp. 7947-7952.
    DOI: 10.1016/j.ifacol.2017.08.706
  • Lorenzen, Matthias; Müller, Matthias A. & Allgöwer, Frank (2017): Stabilizing Stochastic MPC without Terminal ConstraintsProc. American Control Conf. (ACC), 04, Seattle, Washington, pp. 5636-5641.
    DOI: 10.23919/ACC.2017.7963832
  • Mansfeld, Nico; Beck, Fabian; Dietrich, Alexander & Haddadin, Sami (2017): Interactive Null Space Control for Intuitively Interpretable Reconfiguration of Redundant ManipulatorsIEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 5368-5375
    DOI: 10.1109/IROS.2017.8206432
  • Mansfeld, Nico; Djellab, Badis; Raldua Veuthey, Jaime; Beck, Fabian; Ott, Christian & Haddadin, Sami (2017): Improving the Performance of Biomechanically Safe Velocity Control for Redundant Robots through Reflected Mass MinimizationIEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 5390-5397
    DOI: 10.1109/IROS.2017.8206435
  • Müller, M. A. & Grüne, L. (2017): On the relation between dissipativity and discounted dissipativityProc. 56th IEEE Conf. Decision and Control (CDC), pp. 5570-5575.
    DOI: 10.1109/CDC.2017.8264486
  • Shahriari, Erfan; Kramberger, Aljaž; Gams, Andrej; Ude, Aleš a & Haddadin, Sami (2017): Adapting to Contacts: Energy Tanks and Task Energy for Passivity-Based Dynamic Movement PrimitivesIEEE RAS International Conference on Humanoid Robots (Humanoids), Birmingham, UK, 136-142
    DOI: 10.1109/HUMANOIDS.2017.8239548
  • Tödtheide, A., Shahriari, E., Haddadin, S. (2017): Tank Based Unified Torque Impedance Control for an Antagonistic and Pneumatically Actuated Robot JointRobotics and Automation (ICRA), 2017 IEEE International Conference on Weitere Informationen
    DOI: 10.1109/ICRA.2017.7989149
  • Tomic, Teodor and Haddadin, Sami (2017): Towards Interaction, Disturbance and Fault Aware Flying Robot SwarmsInternational Symposium on Robotics Research (ISRR2017), Puerto Varas, Chile, pp. 183-198
    DOI: 10.1007/978-3-030-28619-4_19
  • Vorndamme, J., Schappler, M., and Haddadin, S. (2017): Collision Detection, Isolation and Identification for HumanoidsRobotics and Automation (ICRA), 2017 IEEE International Conference on Weitere Informationen
    DOI: 10.1109/ICRA.2017.7989552
  • Aydiner, E.; Müller, M. A. & Allgöwer, F. (2016): Periodic Reference Tracking for Nonlinear Systems via Model Predictive ControlProc. European Control Conf. (ECC), Aalborg, Denmark, pp. 2602-2607.
    DOI: 10.1109/ECC.2016.7810682
  • Bayer, F. A.; Müller, M. A. & Allgöwer, F. (2016): Min-max Economic Model Predictive Control Approaches with Guaranteed PerformanceProc. 55th IEEE Conf. Decision and Control (CDC), pp. 3210-3215.
    DOI: 10.1109/CDC.2016.7798751
  • Brunner, F. D.; Müller, M. A. & Allgöwer, F. (2016): Enhancing Output Feedback MPC for Linear Discrete-time Systems with Set-valued Moving Horizon EstimationProc. 55th IEEE Conf. Decision and Control (CDC), Las Vegas, NV, USA, pp. 2733-2738.
    DOI: 10.1109/CDC.2016.7798675
  • Knüfer, S.; Müller, M. A. & Allgöwer, F. (2016): Stabilizing Model Predictive Control without Terminal Constraints for Switched Nonlinear SystemsProc. 10th IFAC Symp. Nonlinear Control Systems (NOLCOS), vol. 49, no. 18, Monterey, CA, USA, pp. 65-70.
    DOI: 10.1016/j.ifacol.2016.10.141
  • Köhler, P. N.; Müller, M. A. & Allgöwer, F. (2016): A distributed economic MPC scheme for coordination of self-interested systemsProc. American Control Conf. (ACC), Boston, MA, USA, pp. 889-894.
    DOI: 10.1109/ACC.2016.7525027
  • Mansfeld, N., Ott, C., Haddadin, S. (2016): Maximal input limits for independent SISO control in modal space under consideration of actuator constraints2016 American Control Conference (ACC), pp. 6721-6728
    DOI: 10.1109/ACC.2016.7526730
  • Müller, M. A. (2016): Nonlinear moving horizon estimation for systems with bounded disturbancesProc. American Control Conf. (ACC), Boston, MA, USA, pp. 883-888.
    DOI: 10.1109/ACC.2016.7525026
  • Tomic, T., Schmid, K., Lutz, P., Mathers, A. & Haddadin, S. (2016): The flying anemometer: Unified estimation of wind velocity from aerodynamic power and wrenches2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 1637-1644
    DOI: 10.1109/IROS.2016.7759264
  • Vorndamme, J., Schappler, M., Tödtheide, A., and Haddadin, S. (2016): Soft Robotics for the Hydraulic Atlas Arms: Joint Impedance Control with Collision Detection and Disturbance Compensation2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2016) Weitere Informationen
    DOI: 10.1109/IROS.2016.7759517
  • Bayer, F. A.; Lorenzen, M.; Müller, M. A. & Allgöwer, F. (2015): Improving Performance in Robust Economic MPC Using Stochastic InformationProc. IFAC Conf. Nonlinear Model Predictive Control (NMPC), vol. 48, no. 23, Seville, Spain, pp. 410-415.
    DOI: 10.1016/j.ifacol.2015.11.313
  • Bayer, F. A.; Müller, M. A. & Allgöwer, F. (2015): Average Constraints in Robust Economic Model Predictive ControlProc. IFAC Int. Symp. Advanced Control of Chemical Processes (ADCHEM), vol. 48, no. 8, Whistler, Britisch Columbia, Canada, pp. 44-49.
    DOI: 10.1016/j.ifacol.2015.08.155
  • Beetz, M., Bartels, G., Albu-Schäffer, A., Bálint-Benczédi, F. Belder, R., Beßler, D., Haddadin, S., Maldonado, S. Mansfeld, N., Wiedemeyer, T., Weitschat, R., Worch, J. H. (2015): Robotic agents capable of natural and safe physical interaction with human co-workersIntelligent Robots and Systems (IROS), 2015 IEEE/RSJ International Conference on, 6528-6535
    DOI: 10.1109/IROS.2015.7354310
  • Golz, S., Osendorfer, Ch. & Haddadin, S. (2015): Using tactile sensation for learning contact knowledge: Discrimination collision from physical interaction2015 IEEE International Conference on Robotics and Automation, pp. 3788-3794
    DOI: 10.1109/ICRA.2015.7139726
  • Mansfeld, N., & Haddadin, S. (2015): A Comparison of Braking Strategies for Elastic Joint Robots2015 IEEE International Conference on Robotics and Automation, pp. 789-796
    DOI: 10.1109/ICRA.2015.7139268
  • Müller, M. A. & Grüne, L. (2015): Economic model predictive control without terminal constraints: optimal periodic operationProc. 54th IEEE Conf. Decision and Control (CDC), Osaka, Japan, pp. 4946-4951.
    DOI: 10.1109/CDC.2015.7402992
  • Müller, M. A.; Grüne, L. & Allgöwer, F. (2015): On the role of dissipativity in economic model predictive controlProc. 5th IFAC Conf. Nonlinear Model Predictive Control (NMPC), vol. 48, no. 23, pp. 110-116 (Semi-Plenary Paper).
    DOI: 10.1016/j.ifacol.2015.11.269
  • Schappler, M. and Vorndamme, J. and Tödtheide, A. and Conner, D.C. and von Stryk, O. and Haddadin, S. (2015): Modeling, Identification and Joint Impedance Control of the Atlas Arms15th IEEE-RAS International Conference on Humanoid Robots (2015) Weitere Informationen
    DOI: 10.1109/HUMANOIDS.2015.7363499
  • Schindlbeck, Ch. & Haddadin, S. (2015): Unified Passivity-Based Cartesian Force/Impedance Control for Rigid and Flexible Joint Robots via Task-Energy TanksRobotics and Automation (ICRA), 2015 IEEE International Conference on, pp. 440-447
    DOI: 10.1109/ICRA.2015.7139036
  • Tomic,T. & Haddadin, S. (2015): Simultaneous Estimation of Aerodynamic and Contact Forces in Flying Robots: Applications to Metric Wind Estimation and Collision Detection2015 IEEE International Conference on Robotics and Automation (ICRA), pp. 5290-5296
    DOI: 10.1109/ICRA.2015.7139937
  • Bayer, F.; Müller, M. A. & Allgöwer, F. (2014): Set-based Disturbance Attenuation in Economic Model Predictive ControlProc. 19th IFAC World Congress, vol. 47, no. 3, Cape Town, South Africa, pp. 1898 - 1903.
    DOI: 10.3182/20140824-6-ZA-1003.00951
  • Kaldestad, K. B., Haddadin, S., Belder, R., Hovland, G. & Anisi, D. A. (2014): Collision Avoidance with Potential Fields Based on Parallel Processing of 3D-Point Cloud Data on the GPUInternational Conference on Robotics and Automation (ICRA 2014), Hong Kong, China, May 31 - June 7, pp. 3250-3257
    DOI: 10.1109/ICRA.2014.6907326
  • Müller, M. A. & Allgöwer, F. (2014): Distributed economic MPC: a framework for cooperative control problemsProc. 19th IFAC World Congress, vol. 47, no. 3, Cape Town, South Africa, pp. 1029-1034.
    DOI: 10.3182/20140824-6-ZA-1003.01177
  • Müller, M. A.; Angeli, D. & Allgöwer, F. (2014): Performance analysis of economic MPC with self-tuning terminal costProc. American Control Conf. (ACC), Portland, OR, USA, pp. 2845-2850.
    DOI: 10.1109/ACC.2014.6858962
  • Nico Mansfeld & Sami Haddadin (2014): Reaching desired states time-optimally from equilibrium and vice versa for visco-elastic joint robots with limited elastic deflection2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 3904-3911
    DOI: 10.1109/IROS.2014.6943111
  • Özparpucu, C. M., Haddadin, S. & Albu-Schäffer, A. (2014): Optimal Control of Variable Stiffness Actuators with Nonlinear Springs19th IFAC World Congress, Cape Town, South Africa, pages 8487-8495 Weitere Informationen
    DOI: 10.3182/20140824-6-ZA-1003.01193
  • Özparpucu, M. & Haddadin, S. (2014): Optimal Control of Elastic Joints with Variable DampingEuropean Control Conference (EEC), June24-27, pp. 2526-2533
    DOI: 10.1109/ECC.2014.6862266
  • Schaich, R. M.; Müller, M. A. & Allgöwer, F. (2014): A distributed model predictive control scheme for networks with communication failureProc. 19th IFAC World Congress, vol. 47, no. 3, Cape Town, South Africa, pp. 12004-12009.
    DOI: 10.3182/20140824-6-ZA-1003.01507
  • Tomic, T. & Haddadin, S. (2014): A Unified Framework for External Wrench Estimation, Interaction Control and Collision Reflexes for Flying Robots2014 IEEE/RSJ International Conference on Intelligent Robots and Systems.
    DOI: 10.1109/IROS.2014.6943154
  • Tomic, T.; Maier, M. & Haddadin, S. (2014): Learning quadrotor maneuvers from optimal control and generalizing in real-time2014 IEEE International Conference on Robotics and Automation (ICRA), pp. 1747-1754
    DOI: 10.1109/ICRA.2014.6907087
  • Müller, M. A.; Angeli, D. & Allgöwer, F. (2013): On convergence of averagely constrained economic MPC and necessity of dissipativity for optimal steady-state operationProc. American Control Conf. (ACC), Washington, DC, USA, pp. 3147-3152.
    DOI: 10.1109/ACC.2013.6580314
  • Müller, M. A.; Angeli, D. & Allgöwer, F. (2013): Economic model predictive control with self-tuning terminal weightProc. European Control Conf. (ECC), Zurich, Switzerland, pp. 2044-2049.
    DOI: 10.23919/ECC.2013.6669271
  • Müller, M. A.; Angeli, D. & Allgöwer, F. (2013): Economic model predictive control with transient average constraintsProc. 52nd IEEE Conf. Decision and Control (CDC), Florence, Italy, pp. 5119-5124.
    DOI: 10.1109/CDC.2013.6760693
  • Müller, M. A.; Liberzon, D. & Allgöwer, F. (2013): Norm-controllability, or how a nonlinear system responds to large inputsProc. 9th IFAC Symp. Nonlinear Control Systems (NOLCOS), vol. 46, no. 23, pp. 104-109 (Semi-Plenary Paper).
    DOI: 10.3182/20130904-3-FR-2041.00052
  • Albert, A., Vorndamme, J., Petereit, S. & Lilge, T. (2012): Automatisierte Aufnahme einer 3D-Raumkarte mit UnterputzdatenAutomation 2012, VDI-Berichte, no. 2171, Jun 13-14, Baden-Baden, VDI Verlag GmbH, Düsseldorf, pp. 321-324. Weitere Informationen
  • Müller, M. A. & Allgöwer, F. (2012): Robustness of steady-state optimality in economic model predictive controlProc. 51st IEEE Conf. Decision and Control (CDC), Maui, HI, USA, pp. 1011-1016.
    DOI: 10.1109/CDC.2012.6426754
  • Müller, M. A.; Liberzon, D. & Allgöwer, F. (2012): Relaxed conditions for norm-controllability of nonlinear systemsProc. 51st IEEE Conf. Decision and Control (CDC), Maui, HI, USA, pp. 314-319.
    DOI: 10.1109/CDC.2012.6426430
  • Müller, M. A.; Schürmann, B. & Allgöwer, F. (2012): Robust cooperative control of dynamically decoupled systems via distributed MPCProc. IFAC Conf. Nonlinear Model Predictive Control (NMPC), vol. 45, no. 17, Noordwijkerhout, The Netherlands, pp. 412-417.
    DOI: 10.3182/20120823-5-NL-3013.00007
  • Vorndamme, J., Petereit, S., Pitzer, B., Roan, P., Lilge, T. & Albert, A. (2012): Robotic System for Mapping 3D in-wall Information for CraftsmenProceedings of the 7th German Conference on Robotics (ROBOTIK 2012), May 21-22, Munich, Germany, VDE Verlag, Berlin, pp. 24-29. CD-ROM. Weitere Informationen
  • Joos, A.; Müller, M. A.; Baumgärtner, D.; Fichter, W. & Allgöwer, F. (2011): Nonlinear Predictive Control Based on Time-Domain Simulation for Automatic LandingProc. AIAA Guidance, Navigation, and Control Conf., vol. 2, Portland, OR, USA, pp. 1619-1633.
    DOI: 10.2514/6.2011-6298
  • Müller, M. A. & Allgöwer, F. (2011): Model predictive control of switched nonlinear systems under average dwell-timeProc. American Control Conf. (ACC), San Francisco, CA, USA, pp. 5169-5174.
    DOI: 10.1109/ACC.2011.5990955
  • Müller, M. A.; Liberzon, D. & Allgöwer, F. (2011): On norm-controllabilty of nonlinear systemsProc. 50th IEEE Conf. Decision and Control (CDC), European Control Conf. (ECC), Orlando, FL, USA, pp. 1741-1746.
    DOI: 10.1109/CDC.2011.6160557
  • Müller, M. A.; Reble, M. & Allgöwer, F. (2011): A general distributed MPC framework for cooperative controlProc. 18th IFAC World Congress, vol. 44, no. 1, Milano, Italy, pp. 7987-7992.
    DOI: 10.3182/20110828-6-IT-1002.02884
  • Reble, M.; Müller, M. A. & Allgöwer, F. (2011): Unconstrained Model Predictive Control and Suboptimality Estimates for Nonlinear Time-Delay SystemsProc. 50th IEEE Conf. Decision and Control (CDC), European Control Conf. (ECC), Orlando, FL, USA, pp. 7599-7604.
    DOI: 10.1109/CDC.2011.6160266
  • Müller, M. A. & Domìnguez-Garcìa, A. D. (2010): On Input-to-State Stability Notions for Reachability Analysis of Power SystemsProc. IEEE Int. Symp. Circuits and Systems (ISCAS), Paris, France, pp. 2754-2757.
    DOI: 10.1109/ISCAS.2010.5537027
  • Müller, M. A. & Liberzon, D. (2010): Input/output-to-state stability of switched nonlinear systemsProc. American Control Conf. (ACC), Baltimore, Maryland, USA, pp. 1708-1712.
    DOI: 10.1109/ACC.2010.5531504
  • Müller, M. A. & Liberzon, D. (2010): State-norm estimators for switched nonlinear systems under average dwell-timeProc. 49th IEEE Conf. Decision and Control (CDC), Atlanta, GA, USA, pp. 1275-1280.
    DOI: 10.1109/CDC.2010.5717596
  • Müller, M. A.; Waldherr, S. & Allgöwer, F. (2009): The transcritical bifurcation in absolutely stable feedback systemsProc. European Control Conf. (ECC), Budapest, Hungary, pp. 2146-2151.
    DOI: 10.23919/ECC.2009.7074722
  • Pietsch, B. & Gerth, W. (2009): Universeller hybrider Systembeobachter für EchtzeitsystemeIn Halang, W. A. & Holleczek, P. (Ed.): Software-intensive verteilte Echtzeitsysteme. Echtzeit 2009, Informatik aktuell, 19.-20. Nov., Berlin Heidelberg, Springer, pp. 109-118.
    DOI: 10.1007/978-3-642-04783-1_14
  • Pietsch, B. & Gerth, W. (2009): Real-Time Resource Management for Service RobotsProceedings of the Work-In-Progress Session of the 21st Euromicro Conference on Real-Time Systems, Jul 1-3.
  • Resetov, D., Pietsch, B. & Gerth, W. (2009): Aufbau des humanoiden Roboters BART IIIIn Dillmann, R., Beyerer, J., Stiller, C., Zöllner, M. & Gindele, T. (Ed.): Autonome Mobile Systeme 2009, Informatik aktuell, 3-4 Dez., Karlsruhe, Springer Verlag Berlin Heidelberg, pp. 209-216.
    DOI: 10.1007/978-3-642-10284-4_27
  • Höhn, O. & Gerth, W. (2008): Wahrscheinlichkeitsbasierte Sturzklassifikation von zweibeinigen Robotern42. Regelungstechnisches Kolloquium -- Kurzfassung der Beiträge, Feb., Boppard, pp. 39-40. Weitere Informationen
  • Lilge, T., Gerth, W. & Goronczy, A. (2007): Zur Selbstlokalisierung mobiler Systeme bei fehlenden absoluten ReferenzenIn Berns, K. & Luksch, T. (Ed.): Autonome Mobile Systeme 2007, Informatik aktuell, 18 - 19 Okt., Kaiserslautern, Springer Verlag Berlin Heidelberg, pp. 43-49.
    DOI: 10.1007/978-3-540-74764-2_7
  • Seebode, M. & Gerth, W. (2007): Echtzeitsystem für einen zweibeinigen Roboter mit adaptiver BahnplanungIn Holleczek, P. & Vogel-Heuser, B. (Ed.): Mobilität und Echtzeit. PEARL 2007, Informatik aktuell, 06.-07. Dez., Berlin Heidelberg, Springer, pp. 88-97.
    DOI: 10.1007/978-3-540-74837-3_10
  • Höhn, O. (2006): Probability based State Monitoring System for Bipedal RobotsFrench-German Workshop on Humanoid and Legged Robots (HLR'06), Sep 25-26, Karlsruhe, Deutschland.
  • Höhn, O. & Gerth, W. (2006): Probabilistic Balance Monitoring for Bipedal RobotsProceedings of the 9th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines (CLAWAR 2006), Sep 11-14, Brussels, Belgium, pp. 435-442.
    DOI: 10.1177/0278364908095170
  • Albert, A., Pietsch, B. & Voetz, F. (2005): Simulation Environment for Investigating the Impacts of Time-Triggered Communication on a Distributed Vehicle Dynamics Control SystemProceedings of the 1st International ECRTS Workshop on Real-Time and Control (RTC 2005), Jul 6-8, Palma de Mallorca, Spanien, pp. 105-110. Weitere Informationen
  • Gerecke, M. & Gerth, W. (2005): Aufbau eines Stereokamerasystems zum Betrieb unter RTOS-UHIn Holleczek, P. & Vogel-Heuser, B. (Ed.): Echtzeitaspekte bei der Koordinierung Autonomer Systeme. PEARL 2005, Informatik aktuell, 01.-02. Dez., Berlin Heidelberg, Springer, pp. 45-54. Weitere Informationen
    DOI: 10.1007/3-540-29595-X_5
  • Höhn, O., Gacnik, J. & Gerth, W. (2005): Detection and Classification of Posture Instabilities of Bipedal RobotsProceedings of the 8th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines (CLAWAR 2005), Sep 13-15, London, England, pp. 409-416.
    DOI: 10.1007/3-540-26415-9_49
  • Pietsch, B. & Albert, A. (2005): Effiziente Ankopplung eines zeitgesteuerten Feldbusses an ein EchtzeitbetriebssystemIn Holleczek, P. & Vogel-Heuser, B. (Ed.): Echtzeitaspekte bei der Koordinierung Autonomer Systeme. PEARL 2005, Informatik aktuell, 01.-02. Dez., Berlin Heidelberg, Springer, pp. 137-146. Weitere Informationen
    DOI: 10.1007/3-540-29595-X_13
  • Seebode, M., Strasser, R., Lilge, T. & Gerth, W. (2005): Datenfusion in einem künstlichen Gleichgewichtsorgan für autonome Roboter39. Regelungstechnisches Kolloquium -- Kurzfassung der Beiträge, Feb., Boppard, pp. 14-15. (Nicht veröffentlicht). Weitere Informationen
  • Hofschulte, J., Gerth, W. & Seebode, M. (2004): Parallel Manipulator Hip Joint for a Bipedal RobotIn Armada, M. & de Santos, P. G.. (Ed.): Proceedings of the 7th International Conference on Climbing and Walking Robots - CLAWAR 2004, Berlin-Heidelberg, Springer, pp. 601-609.
    DOI: 10.1007/3-540-29461-9_60
  • Höhn, O. (2004): Robotic Projects at the Institute of Automatic Control IRT - University of HannoverProceedings of the French-German Workshop on Humanoid and Legged Robots (HLR), Okt 14-15, Metz, Frankreich, pp. 27-41.
  • Höhn, O., Schollmeyer, M. & Gerth, W. (2004): Sturzvermeidung von zweibeinigen Robotern durch reflexartige ReaktionenIn Holleczek, P. & Vogel-Heuser, B. (Ed.): Eingebettete Systeme. PEARL 2004, Informatik aktuell, Berlin Heidelberg, Springer, pp. 60-69. Weitere Informationen
    DOI: 10.1007/978-3-642-18594-6_7
  • Albert, A. & Gerth, W. (2003): Evaluation and Comparison of the Real-Time Performance of CAN and TTCAN9th International CAN Conference, iCC 2003, Okt., München, pp. 05-1-05-8. Weitere Informationen
  • Albert, A. & Strasser, R. (2003): Realisierung einer zeitgesteuerten, verteilten Regelung mit einem CAN-TTCAN-GatewayIn Holleczek, P. & Vogel-Heuser, B. (Ed.): Verteilte Echtzeitsysteme. PEARL 2003, Informatik aktuell, Berlin Heidelberg, Springer-Verlag, pp. 39-48. Weitere Informationen
    DOI: 10.1007/978-3-642-55617-3_6
  • Albert, A., Hugel, R. & Gerth, W. (2003): Vergleich der Echtzeiteigenschaften von CAN und TTCAN bei der Reaktion auf asynchrone externe EreignisseEmbedded World 2003, Feb 18-20, Nürnberg, WEKA Fachzeitschriftenverlag, pp. 27-37.
  • Albert, A., Strasser, R. & Trächtler, A. (2003): Migration from CAN to TTCAN for a Distributed Control System9th International CAN Conference, iCC 2003, Okt., München, pp. 05-9-05-16. Weitere Informationen
  • Gerecke, M., Hofschulte, J. & Gerth, W. (2003): Realization of a Lightweight Sensory Foot for a Bipedal RobotIn Muscato, G. & Longo, D. (Ed.): Proceedings of the 6th International Conference on Climbing Adn Walking Robots and the Support Technologies for Mobile Machines (CLAWAR 2003), Sep 17--79, Bury St. Edmunds and London, Professionell Engineering Publishing, pp. 895-902.
  • Strasser, R., Seebode, M. & Gerth, W. (2003): A Very Small Low Cost Inertial Measurement Unit (IMU) for Robotic ApplicationsIn Sorg, H. (Ed.): Symposium GYRO Technology 2003, Stuttgart, pp. 18.0-18.9.
  • Strasser, R., Seebode, M., Albert, A. & Gerth, W. (2003): Extrem kompaktes SoC-Konzept eines Gleichgewichtsorganes für einen LaufroboterIn Holleczek, P. & Vogel-Heuser, B. (Ed.): Verteilte Echtzeitsysteme. PEARL 2003, Informatik aktuell, Berlin Heidelberg, Springer-Verlag, pp. 49-58. Weitere Informationen
    DOI: 10.1007/978-3-642-55617-3_7
  • Albert, A. (2002): Dynamisch stabiles Gehen für eine autonome, zweibeinige Laufmaschine36. Regelungstechnisches Kolloquium -- Kurzfassung der Beiträge, Feb., Boppard, pp. 40-41. (Nicht veröffentlicht). Weitere Informationen
  • Gerecke, M., Albert, A. & Gerth, W. (2002): Vision Guided Biped Walking -- Trajectories and CommunicationIn Bidaud, P. & Amar, F. B. (Ed.): Proceedings of the Fifth International Conference on Climbing and Walking Robots and their Supporting Technologies (CLAWAR 2002), September, Paris, Frankreich, pp. 155-162.
  • Gerecke, M., Albert, A., Hofschulte, J., Strasser, R. & Gerth, W. (2002): Towards an Autonomous, Bipedal Service RobotTagungsband 10 Jahre Fraunhofer IFF, 24.-28. Juni, Juni, Magdeburg, pp. 163-168.
  • Lorch, O., Albert, A., Denk, J., Gerecke, M., Cupec, R., Seara, C. F., Gerth, W. & Schmidt, G. (2002): Experiments in Vision-Guided Biped WalkingProceedings of the IEEE/RSJ/GI International Conference on Intelligent Robots and Systems (IROS 2002), Oktober, Lausanne, Schweiz, pp. 2484-2490.
    DOI: 10.1109/IRDS.2002.1041642
  • Albert, A. & Gerth, W. (2001): New Path Planning Algorithms for Higher Gait Stability of a Bipedal Robot4th International Conference on Climbing and Walking Robots, CLAWAR2001, pp. 521-528.
  • Albert, A. & Lilge, T. (2001): Comparative Study of Three Nonlinear Discrete-Time Observer Designs for the Control of a Bipedal Robot4th International Conference on Climbing and Walking Robots, CLAWAR2001, pp. 851-858.
  • Albert, A., Suppa, M. & Gerth, W. (2001): Detection of Stair Dimensions for the Path Planning of a Bipedal Robot2001 IEEE/ASME International Conference on Advanced Intelligent Mechatronics Proceedings, 8-12 July, Como, Italy, IEEE, pp. 1291-1296.
    DOI: 10.1109/AIM.2001.936909
  • Hofschulte, J. & Gerth, W. (2001): Objektorientiertes Programmieren unter PEARL90 bei einem RoboterprojektIn Holleczek, P. (Ed.): PEARL 2001 - Workshop über Realzeitsysteme, Informatik aktuell, Berlin Heidelberg, Springer-Verlag, pp. 97-106.
  • Wolter, B., Albert, A. & Gerth, W. (2001): User-Expandable, On-The-Chip Real-Time Operating System for High Performance Embedded Mechatronic Systems1st IFAC International Conference on Information Technology in Mechatronics, ITM 2001, October, Istanbul, Turkey, pp. 255-261.
  • Albert, A. (2000): Climbing of Stairs of an Autonomous, Bipedal RobotPreprints of the 1st IFAC Conference on Mechatronic Systems, MECHATRONICS 2000 Darmstadt, vol. 2, September, Darmstadt, pp. 647 - 652.
  • Albert, A., Hofschulte, J. & Schermeier, O. (2000): Entwicklung des zweibeinigen autonomen Laufroboters BARt-UHVDI Berichte 1552: ROBOTIK 2000, Juni, Berlin, pp. 509-514.
  • Gerth, W. & Wolter, B. (2000): Orthogonale Walsh-Korrelation zur qualitativen Beurteilung der Reaktivität von BetriebssystemenIn Holleczek, P. (Ed.): PEARL 2000 - Workshop über Realzeitsysteme, Informatik aktuell, Berlin Heidelberg, Springer-Verlag, pp. 33-42.
    DOI: 10.1007/978-3-642-59575-2_4
  • Scherm, N. (2000): Nichtlineare zeitdiskrete Regelung eines unteraktuierten Manipulators34. Regelungstechnisches Kolloquium -- Kurzfassung der Beiträge, Feb., Boppard, pp. 60-61. (Nicht veröffentlicht). Weitere Informationen
  • Albert, A., Gerth, W., Hofschulte, J. & Schermeier, O. (1999): Echtzeitsystem für einen zweibeinigen RoboterIn Holleczek, P. (Ed.): PEARL 99 - Workshop über Realzeitsysteme, Informatik aktuell, Berlin Heidelberg, Springer-Verlag, pp. 69-78.
    DOI: 10.1007/978-3-642-59704-6_8
  • Huijberts, H.; Lilge, T. & Nijmeijer, H. (1999): Synchronization and observers for nonlinear discrete-time systems1999 European Control Conference (ECC), pp. 4643-4648 Weitere Informationen
    DOI: 10.23919/ECC.1999.7100068
  • Scherm, N. & Heimann, B. (1999): Discrete-Time Control of Underactuated Manipulation SystemsProceedings of the IFToMM Tenth World Congress on the Theory of Machines and Mechanisms, vol. 3, Juni, Oulu Finnland, pp. 990-996.
  • Lilge, T. (1998): Zeitdiskrete Beobachter für nichtlineare Systeme32. Regelungstechnisches Kolloquium -- Kurzfassung der Beiträge, Feb., Boppard, pp. 15-16. (Nicht veröffentlicht). Weitere Informationen
  • Bartling, R., Beuse, M., Kopmann, A., Diekmann, H. & Thoma, M. (1997): Populationsverteilung oszillierender Chemostatkulturen von Saccharomyces cerevisiaeSonderband VAAM-Tagung, Hamburg, pp. 105.
  • Beuse, M., Kopmann, A., Diekmann, H. & Thoma, M. (1997): Populationsverteilung und Wachstumsmodus von Saccharomyces cerevisiaeSonderband Dechema-Tagung, Münster, pp. 198-201.
  • Thoma, M., Kopmann, A., Diekmann, H. & Beuse, M. (1997): Zellkultivierungsanlage mit Hochleistungs-InstrumentierungBiotechnologie, Technologie-Informationen Niedersächsischer Hochschulen, Berlin Heidelberg, Springer-Verlag.
  • Beuse, M., Kopmann, A., Diekmann, H. & Thoma, M. (1996): Eine high-performance, UBICON-gekoppelte Fermentationsanlage zur synchronen Kultivierung von Saccharomyces cerevisiaeSonderband VAAM-Tagung, Bayreuth, pp. 99.
  • Gerth, W. & Wolter, B. (1996): Power PEARL auf einem transferassembliertem Echtzeitbetriebssystem zur Steuerung schneller MaschinenIn Holleczek, P. (Ed.): PEARL 96 - Workshop über Realzeitsysteme, Informatik aktuell, Berlin Heidelberg, Springer-Verlag, pp. 1-11.
    DOI: 10.1007/978-3-642-60535-2_1
  • Lichtenberg, M. (1995): Analytische Methoden zur Generierung eines Fuzzy-Reglers am Beispiel eines invertierten Doppelpendels29. Regelungstechnisches Kolloquium -- Kurzfassung der Beiträge, Feb., Boppard, pp. 31-33. (Nicht veröffentlicht).
  • Lichtenberg, M. (1994): Verwendung von analytischem Prozeßwissen beim Entwurf von Fuzzy-ReglernFuzzy Systeme '94.
  • Brdomann, M. (1993): Entwurf zeitdiskreter nichtlinearer Beobachter27. Regelungstechnisches Kolloquium -- Kurzfassung der Beiträge, 24.-26. Feb., Boppard, pp. 36-38. (Nicht veröffentlicht).
  • Husmann, H. (1993): Zur Echtzeitreaktivität von FeldbussenIn Holleczek, P. (Ed.): PEARL 93 - Workshop über Realzeitsysteme, Informatik aktuell, Berlin Heidelberg, Springer-Verlag, pp. 118-128.
    DOI: 10.1007/978-3-642-78658-7_10
  • Schulze, K. (1993): Echtzeitfähige Simulation dynamischer Systeme auf KleinstrechnernIn Holleczek, P. (Ed.): PEARL 93 - Workshop über Realzeitsysteme, Informatik aktuell, Berlin Heidelberg, Springer-Verlag, pp. 129-137.
    DOI: 10.1007/978-3-642-78658-7_11
  • Gerth, W. (1992): Konzept und vergleichende Leistungsdaten eines hochreaktiven PEARL-orientierten RISC-EchtzeitbetriebssystemesIn Rzehak, H. (Ed.): Kongress-Vorträge ECHTZEIT '92, Juni, Sindelfingen, pp. 267-178.
    DOI: 10.1007/978-3-322-85506-0_13
  • Lilge, T. & Gralla, C. (1992): Drei Echtzeitbetriebssysteme für die digitale Regelung im VergleichIn Rzehak, H. (Ed.): Kongress-Vorträge ECHTZEIT '92, Juni, Sindelfingen, pp. 253-262.
    DOI: 10.1007/978-3-322-85506-0_5
  • Husmann, H. (1991): Ein verteiltes Filesystem für EchtzeitanwendungenEchtzeit '91 Kongreßvorträge, pp. 235 - 242.
    DOI: 10.1007/978-3-642-77060-9_61
  • Schulze, K. (1991): Ein echtzeit- und echtsignalfähiges CACSD-Paket zum Regelkreisentwurf25. Regelungstechnisches Kolloquium - Kurzfassung der Beiträge, 21.-22. Feb, Boppard, pp. 23-26.
  • Arlt, R. & Gerth, W. (1990): Entwicklung von Hard- und Software für ein fehlertolerantes Multiprozessorsystem5. Berichtskolloquium zum DFG-Schwerpunktprogramm 'Messen, Steuern, Regeln von dynamischen Systemen mit komplexer Struktur', pp. 27 - 31.
  • Arlt, R. & Gerth, W. (1990): Hardware für ein fehlertolerierendes Multiprozessor ProzeßrechnersystemEchtzeit '90 Kongreßvorträge.
  • Arlt, R. & Gralla, C. (1990): Integration des PROFIBUS-Systems in eine EchtzeitumgebungFeldbus-Workshop, Fachhochschule Osnabrück.
  • Reinisch, K. & Thoma, M. (Eds.) (1990): Proceedings of the 5th IFAC/IFORS/IMACS Symposium Large Scale Systems: Theory and Applications, 1989IFAC Symposia Series, no. 9, Berlin, Pergamon Press.
  • Isaacs, S., Munack, A. & Thoma, M. (1989): Towards the Quick Identification of Model Parameters for the Tower Loop Airlift FermenterIn Behrens, D. & Driesel, A. J. (Ed.): Joint Meeting of SIM and DECHEMA Presentation of Biochemical Laboratories Microbial Principles in Bioprocesses Applied Genetics, DECHEMA Annual Meeting of Biotechnologists, vol. 3, Part A, Mai, Frankfurt, pp. 453 - 456.
  • Niemann, K.-H. & Gerth, W. (1988): Leistungssteigerung von Prozeßrechnersystemen durch den Einsatz von hochsprachprogrammierten MultiprozessorenProzeßrechensystenme '88, Informatik Fachberichte, no. 167, Springer Berlin Heidelberg New York, pp. 772 - 781.
    DOI: 10.1007/978-3-642-73445-8_65
  • Thoma, M. (1988): Systemstabilisierung und -optimierung durch ProzeßrechnerAktive Schwingungsbeeinflussung bei Maschinen, Fahrzeugen und Bauwerken, VDI-Schwingungstagung, VDI Berichte, no. 695, VDI-Verlag, pp. 265 - 276.
  • Kluge, M. (1987): Modellbildung am Beispiel der Penicillin- Fermentation21. Regelungstechnisches Kolloquium, 19.-20. Feb, Boppard.
  • Thoma, M. (1987): Trends in Instrumentation and ControlIFAC Proceedings No. 7, pp. 1 - 3.
  • Thoma, M. (1986): Trends in Instrumentation and ControlIn Norrie, A. & Turner, D. (Ed.): 1st IFAC Symposium Automation for Mineral Resource Development 1985, IFAC Proceedings Series, July, Brisbane, Pergamon Press, pp. XIII - XV.
  • Thoma, M. & Schmidt, G. (1986): Fortschritte in der Meß- und Automatisierungstechnik durch Informationstechnik, INTERKAMA-KongreßIn Thoma, M. & Schmidt, G. (Ed.): , Fachberichte Messen, Steuern, Regeln, no. 14, Springer Verlag Berlin Heidelberg.
  • Hausdörfer, R. (1985): Konzept eines Mehrmikrorechnersystems zur Leistungssteigerung bei komplizierten Regelalgorithmen19. Regelungstechnisches Kolloquium, 21.-22. Feb, Boppard.

Buchkapitel

  • Angeli, D. & Müller, M. A. (2019): Economic Model Predictive Control: some design tools and analysis techniquesIn Rakovic, S. V. & Levine, W. S. (Ed.): Handbook of Model Predictive Control, Birkh'auser Basel, pp. 145-167.
    DOI: 10.1007/978-3-319-77489-3_7
  • Haddadin, S.; Johannsmeier, L.; Schmid, J.; Ende, T.; Parusel, S.; Haddadin, S.; Schappler, M.; Lilge, T. & Becker, M. (2019): Roboterfabrik: A Pilot to Link and Unify German Robotics Education to Match Industrial and Societal DemandsRobotics in Education - Results of the 9th International Conference on Robotics in Education (Rie 2018), pp. 3-17
    DOI: 10.1007/978-3-319-97085-1_1
  • Ma'touq, Jumana (2019): An index finger musculoskeletal dynamic modelComputer Methods, Imaging and Visualization in Biomechanics and Biomedical Engineering
    DOI: 10.1007/978-3-030-43195-2_34
    ISBN: 978-3-030-43195-2
  • Schappler, M.; Lilge, T. & Haddadin, S. (2019): Kinematics and Dynamics Model via Explicit Direct and Trigonometric Elimination of Kinematic ConstraintsIn: Uhl T. (eds) Advances in Mechanism and Machine Science. IFToMM WC 2019. Mechanisms and Machine Science, vol 73. Springer, Cham, pp 3157-3166
    DOI: 10.1007/978-3-030-20131-9_311
  • Haddadin, S., Croft, E. (2016): Physical Human-Robot InteractionSpringer Handbook of Robotics, Springer International Publishing, pages 1835-1874
    DOI: 10.1007/978-3-319-32552-1_69
  • Haddadin, S., Weitschat, R., Huber, F., Özparpucu, M. C., Mansfeld, N., Albu-Schäffer, A. (2016): Optimal Control for Viscoelastic Robots and Its Generalization in Real-TimeInaba, M., Corke, P. (Eds.): Robotics Research: The 16th International Symposium ISRR, Springer International Publishing, 131-148
    DOI: 10.1007/978-3-319-28872-7_8
  • Albert, A.; Breuning, O.; Petereit, S. & Lilge, T. (2015): Inertiale Stabilisierung einer Lastkarre mit MomentenkreiselnIn: Heimann, B. and Albert, A. and Ortmaier, T. and Rissing, L. (Eds.): Mechatronik, Komponenten - Methoden - Beispiele, Fachbuchverlag Leipzig im Carl Hanser, 2015, S. 402. Weitere Informationen
  • Haddadin, S. (2015): Optimal Exploitation of Soft-Robot DynamicsVerl, A. and Albu-Schäffer, A. and Brock, O. and Raatz, A. (eds): Soft Robotics - Transferring Theory to Application. Springer Vieweg Weitere Informationen
    DOI: 10.1007/978-3-662-44506-8_9
  • Haddadin, S. (2015): Physical Safety in RoboticsSpringer Lecture Notes in Computer Science, In Drechsler, R., Kühne, U. (Eds.): Formal Modeling and Verification of Cyber-Physical Systems, pp. 249-271
    DOI: 10.1007/978-3-658-09994-7_9
  • Grüne, L.; Allgöwer, F.; Findeisen, R.; Fischer, J.; Groß, D.; Hanebeck, U. D.; Kern, B.; Müller, M. A.; Pannek, J.; Reble, M.; Stursberg, O.; Varutti, P. & Worthmann, K. (2014): Distributed and networked model-predictive controlIn Lunze, J. (Ed.): Control Theory of Digitally Networked Systems, Springer Verlag, pp. 111-167.
    DOI: 10.1007/978-3-319-01131-8_4
  • Müller, M. A. & Allgöwer, F. (2014): Distributed MPC for consensus and synchronizationIn Maestre, J. M. & Negenborn, R. (Ed.): Distributed MPC Made Easy, Springer Verlag, pp. 89-100.
    DOI: 10.1007/978-94-007-7006-5_5
  • Michaels, A., Albert, A., Baumann, M., Weiss, U., Biber, P., Kielhorn, A. & Trautz, D. (2012): Approach towards robotic mechanical weed regulation in organic farmingIn Levi, P., Zweigle, O., Häußermann, K. & Eckstein, B. (Ed.): Autonomous Mobile Systems 2012, Informatik aktuell, Sep 26-28, Berlin Heidelberg, Springer, pp. 173-181.
    DOI: 10.1007/978-3-642-32217-4_19
  • Albert, A., Gerth, W. & Lilge, T. (2007): Stabilisierung einer zweibeinigen LaufmaschineIn B. Heimann, W. Gerth & K. Popp: Mechatronik, Komponenten - Methoden - Beispiele, 3. ed., Leipzig, Hanser Fachbuchverlag, pp. 320-332. Weitere Informationen
  • Lilge, T. (1999): Nonlinear Discrete-Time Observers for Synchronization ProblemsIn Nijmeijer, H. & I., F. T. (Ed.): New Directions in Nonlinear Observer Design, Lecture Notes in Control and Information Sciences, no. 244, London, Springer-Verlag, pp. 491-510.
    DOI: 10.1007/BFb0109917
  • Lilge, T. (1998): Stabilisierung eines DoppelpendelsIn B. Heimann, W. Gerth & K. Popp: Mechatronik, Komponenten - Methoden - Beispiele, Hanser Fachbuchverlag, 1998, 334-344
  • Gerth, W. (1994): Konzept und vergleichende Leistungsdaten eines hochreaktiven PEARL-orientierten RISC-EchtzeitbetriebssystemesIn Rzehak, H. (Ed.): Echtzeitsysteme und Fuzzy Control, Wiesbaden, Vieweg, pp. 199-215.
    DOI: 10.1007/978-3-322-85506-0_13
  • Lilge, T. & Gralla, C. (1994): Drei Echtzeitbetriebssysteme für die digitale Regelung im VergleichIn Rzehak, H. (Ed.): Echtzeitsysteme und Fuzzy Control, Wiesbaden, Vieweg, pp. 73-89.
    DOI: 10.1007/978-3-322-85506-0_5
  • Gerth, W. & Gottfriedsen, J. (1991): RISC contra CISC - Beobachtungen bei der Portierung eines EchtzeitbetriebssystemsInformatik Fachberichte 295, Springer, pp. 166 - 179.
  • Gralla, C. (1991): Quantitativer Vergleich von drei Echtzeitbetiebssystemen für die digitale ProzeßregelungInformatik Fachberichte 295, Springer, pp. 141 - 155.
  • Isaacs, S. H. & Thoma, M. (1991): Analysis of the optimal control of an airlift fermenter: a contribution of the importance of model sophisticationIn Hanus, R., Kool, P. & Tzafestas, S. (Ed.): Mathematical and Intelligent models in system simulation, IMACS, J.C. Baltzer AG, Scientific Publishing Co., pp. 723-731.
  • Thoma, M. (1987): International Federation of Automatic Control: HistorySystems and Control Encyclopedia, vol. 4, Pergamon Press, Oxford, pp. 2571 - 2575.
  • Knobloch, H. W. & Thoma, M. (1984): Aspects of Modern Control TheoryPerspectives in Mathematics, Anniversary of Oberwolfach, pp. 337-376.

Bücher

  • Faulwasser, T.; Müller, M. A. & Worthmann, K. (Eds.) (2021): Recent Advances in Model Predictive Control - Theory, Algorithms, and ApplicationsSpringer
    ISBN: 978-3-030-63281-6
  • Ma’touq, Jumana (2019): Human hand neuromechanics for the design of robotic intelligent upper limb prosthesesDissertation, Gottfried Wilhelm Leibniz Universität
    DOI: 10.15488/5588
  • Tomic, Teodor (2018): Model-based control of flying robots for robust interaction under wind influenceDissertation, Gottfried Wilhelm Leibniz Universität
    DOI: 10.15488/3987
  • Haddadin, S. (2014): Towards Safe Robots: Approaching Asimov's 1st LawSpringer Publishing Company, Incorporated.
    DOI: 10.1007/978-3-642-40308-8
  • Müller, M. A. (2014): Distributed and economic model predictive control: beyond setpoint stabilizationPh.D. Thesis, Institute for Systems Theory and Automatic Control, University of Stuttgart.
  • Schollmeyer, M. (2010): Beitrag zur modellbasierten Ladedruckregelung für Pkw-DieselmotorenAachen, Shaker Verlag. Dissertation Leibniz Universität Hannover. Weitere Informationen
  • Höhn, O. (2008): Erkennung, Klassifikation und Vermeidung von Stürzen zweibeiniger RoboterNorderstedt, Books On Demand. Dissertation, Leibniz Universität Hannover. Weitere Informationen
  • Heimann, B., Gerth, W. & Popp, K. (2007): Mechatronik, Komponenten - Methoden - Beispiele3. Ed., Leipzig, Hanser Fachbuchverlag. ISBN-10: 3-446-40599-2. Weitere Informationen
  • Hofschulte, J. (2006): Zweibeiniger Roboter mit parallelkinematischen HüftgelenkenNorderstedt, Books On Demand GmbH. Dissertation, Leibniz Universität Hannover. Weitere Informationen
  • Strasser, R. (2005): Untersuchung von Beobachterverfahren für eine inertiale MesseinheitVDI-Fortschrittberichte, no. 1072 der Reihe 8, Düsseldorf, VDI-Verlag. ISBN: 3-18-507208-1. Dissertation, Universität Hannover. Weitere Informationen
  • Albert, A. (2002): Intelligente Bahnplanung und Regelung für einen autonomen, zweibeinigen RoboterVDI-Fortschrittberichte, no. 927 der Reihe 8, Düsseldorf, VDI-Verlag. Dissertation, Universität Hannover.
  • Wolter, B. (2002): Messung der Dienstgüte von Echtzeitbetriebssystemen durch Walsh-KorrelationVDI-Fortschrittberichte, no. 964 der Reihe 8, Düsseldorf, VDI-Verlag. Dissertation, Universität Hannover.
  • Bunzel, S. (2001): Automatisch Generierte Fuzzy-Modelle und -Regler für nichtlineare SystemeVDI-Fortschrittberichte, no. 916 der Reihe 8, Düsseldorf, VDI-Verlag. Dissertation, Universität Hannover.
  • Heimann, B., Gerth, W. & Popp, K. (2001): Mechatronik, Komponenten - Methoden - Beispiele2. ed., München, Fachbuchverlag Leipzig im Carl Hanser Verlag.
  • Kopmann, A. (2001): Diskrete Wachstumsmodi in synchroner kontinuierlicher Kultur von Mikroorganismen: Erweiterung eines Populations- und ZellzyklusmodellesDissertation, Universität Hannover.
  • Probol, T. (2000): Zur Synthese Nichtlinearer Regelgesetze mit Neuronalen ReglernVDI-Fortschrittberichte, no. 819 der Reihe 8, Düsseldorf, VDI-Verlag. Dissertation, Universität Hannover.
  • Lilge, T. (1999): Zum Entwurf nichtlinearer zeitdiskreter Beobachter mittels NormalformenVDI-Fortschrittberichte, no. 752 der Reihe 8, Düsseldorf, VDI-Verlag. Dissertation, Universität Hannover.
    DOI: 10.15488/11328
  • Scherm, N. (1999): Zum Entwurf nichtlinearer zeitdiskreter Beobachter mittels affiner ApproximationenVDI-Fortschrittberichte, no. 806 der Reihe 8, Düsseldorf, VDI-Verlag. Dissertation, Universität Hannover.
  • Heimann, B., Gerth, W. & Popp, K. (1998): Mechatronik, Komponenten - Methoden - BeispieleMünchen, Fachbuchverlag Leipzig im Carl Hanser Verlag.
  • Husmann, H. (1997): Ein Beitrag zur Untersuchung des dynamischen Verhaltens feldbusgestützer RegelkreiseVDI-Fortschrittberichte, no. 655 der Reihe 8, Düsseldorf, VDI-Verlag. Dissertation, Universität Hannover.
  • Lichtenberg, M. (1996): Ein Beitrag zum systematischen Entwurf von Fuzzy-ReglernVDI-Fortschrittberichte, no. 535 der Reihe 8, Düsseldorf, VDI-Verlag. Dissertation, Universität Hannover.
  • Wendt, K. (1996): Modellierung des menschlichen AtmungssystemsVDI-Fortschrittberichte, no. 133 der Reihe 17, Düsseldorf, VDI-Verlag. Dissertation, Universität Hannover.
  • Brodmann, M. (1994): Beobachterentwurf für nichtlineare zeitdiskrete SystemeVDI-Fortschrittberichte, no. 416 der Reihe 8, Düsseldorf, VDI-Verlag. Dissertation, Universität Hannover.
  • Schulze, K. (1993): Zustandsschätzung nichtlinearer Systeme mittels ApproximationenVDI-Fortschrittberichte, no. 342 der Reihe 8, Düsseldorf, VDI-Verlag. Dissertation, Universität Hannover.
  • Heiser, V. (1992): Abtastregelung mit nichtsimultanen Messungen bei biotechnologischen ProzessenVDI-Fortschrittberichte, no. 285 der Reihe 8, Düsseldorf, VDI-Verlag. Dissertation, Universität Hannover.
  • Husmann, H. (1991): Interprozeßkommunikation und verteiltes Filesystem in einem Echtzeit-NetzwerksystemInformatik Fachberichte 295, Springer, pp. 678 - 687.
    DOI: 10.1007/978-3-642-77060-9_61
  • Thoma, M. (1987): Systems and Control Encyclopedia, 6 VolumesIn Thoma, M. (Ed.): Pergamon Press, Oxford.

Technical Reports

  • Alsalti, M.; Berberich, J.;Lopez, V. G.; Allgöwer, F. & Müller, M. A. (2022): Practical exponential stability of a robust data-driven nonlinear predictive control schemeSupplementary material - technical report
    arXiv: 2204.01150
  • Kathrin Nülle, Moritz Schappler, Svenja Tappe, Torsten, Lilge, Tobias Ortmaier, Sami Haddadin (2017): 3. Arm - Handwerker-Kraftassistenzsystem mit adaptiver Mensch-Technik-Interaktion: Projektabschlussbericht des Mechatronik Zentrum Hannovers
    DOI: 10.2314/GBV:1014030161

Workshopbeiträge

  • Kleyman, V.; Schaller, M.; Wilson, M.; Mordmüller, M.; Brinkmann, R.; Worthmann, K. & Müller, M. A. (2021): Towards model-based temperature-control for retinal laser therapiesProc. Workshop Automed 2021
  • Kleyman, V.; Abbas, H. S.; Brinkmann, R.; Worthmann, K. & Müller, M. A. (2020): Modelling of Heat Diffusion for Temperature Controlled Retinal PhotocoagulationProc. Workshop Automed Weitere Informationen
  • Mansfeld, Nico; Hamad, Mazin; Becker, Marvin; Gonzales Marin, Antonio & Haddadin, Sami (2018): Safety Map: A Tool for Global Robot Safety Evaluation and Safe Robot DesignIEEE International Conference on Robotics and Automation (ICRA), Workshop on Autonomous Robot Design Weitere Informationen
    DOI: 10.15488/3572
  • Tödtheide, A., Kühn, J., and Haddadin, S. (2017): Proprio- and Exteroceptive Reflexes for a Pneumatically Actuated Finger based on the artificial Robot Nervous SystemICRA 2017 all-day workshop on "The robotic sense of touch: from sensing to understanding" on 29 May 2017 | Datei |
  • Vorndamme, J., Schappler, M. and Haddadin, S. (2017): Collision Handling for Humanoids using Proprioceptive SensingIEEE International Conference on Robotics and Automation (ICRA), Workshop: The Robotic Sense of Touch: From Sensing to Understanding, Singapur, May 2017. | Datei |
  • Haddadin, Sami (2016): Demokratisierung der digitalisierten Automation: Der vernetzte, feinfühlige und lernfähige Roboter für JedermannVDI-Wissensforum Weitere Informationen
  • Johannsmeier, L., Ringwald, J., Kuehn, J., Haddadin, S. (2016): Teleoperated Semi-Autonomous Control of the LWR and a Humanoid Hand via the Myo ArmbandIEEE International Conference on Robotics and Automation (ICRA), Workshop on Human-robot interfaces for enhanced physical interactions, Stockholm, May 2016, | Datei |
  • Kuehn, J., Vorndamme, J., Schappler, M., Haddadin, S. (2016): Humanoid Collision Reflex Sequences based on an artificial Robot Nervous System including Contact Location and DirectionIEEE International Conference on Robotics and Automation (ICRA), Workshop on Legged Robot Falling: Fall Detection, Damage Prevention, and Recovery Actions, Stockholm, May 2016. | Datei |
  • Conner, D.C. and Kohlbrecher, S and Romay, A and Stumpf, A and Maniatopoulos, S and Schappler, M and Waxler, B (2015): Team ViGIR DARPA Final Report (Accession Number ADA623035)Defense Technical Information Center Document Weitere Informationen
  • Haddadin, Sami (2015): Robots for Humans2015 German American Frontiers of Engineering, GAFOE 2015 of National Academy of Engineering of the National Academies & Alexander von Humboldt Foundation
  • Kuehn, Johannes and Haddadin, Sami (2015): Pain Reflexes For Robots To Evade Noxious Contact Events8th International Workshop on Human-Friendly Robotics, Munich, October 2015. Weitere Informationen
  • Lars Johannsmeier, Sami Haddadin (2015): A framework for task allocation in collaborative industrial assembly processes8th International Workshop on Human-Friendly Robotics, Munich, October 2015. Weitere Informationen
  • Tödtheide, Alexander and Lilge, Torsten and Haddadin, Sami (2015): Compliant Interaction with an Antagonistic Pneumatically Controlled Robot Joint8th International Workshop on Human-Friendly Robotics, Munich, October 2015 Weitere Informationen
  • Vorndamme, Jonathan and Schappler, Moritz and Tödtheide, Alexander and Haddadin, Sami (2015): Collision Detection with a Hydraulically Actuated Robot Arm8th International Workshop on Human-Friendly Robotics, Munich, October 2015 Weitere Informationen
  • Haddadin, S. (2014): Dynamic and Safe Motion Planning for Human EnvironmentsIROS 2014 Workshop: Real-time Motion Generation & Control – Constraint-based Robot Programming
  • Mansfeld, Nico and Ozparpucu, Mehmet Can and Haddadin, Sami (2014): Braking elastic joint robots in near-minimum time7th International Workshop on Human-Friendly Robotics
  • Lilge, T. (1997): Discrete-time observers for nonlinear systemsIn Isidori, A. & Allgöwer, F. (Ed.): Proc. of the 1997 COSY Workshop on Control of Nonlinear and Uncertain Systems, Jan., ETH Zürich, pp. 202-210. Weitere Informationen
  • Lichtenberg, M. (1995): Analytische Methoden zur Generierung eines Fuzzy-Reglers am Beispiel eines invertierten DoppelpendelsAFN-Jahrbuch 1995, Arbeitsgemeinschaft Fuzzy-Logik und Softcomputing Norddeutschland, 17-25

Video Publikationen

  • Haddadin, S.; Johannsmeier, L.; Becker, M.; Schmid, J.; Ende, T.; Parusel, S.; Schappler, M. & Lilge, T. (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
  • Sven Parusel, Hannes Widmoser, Saskia Golz, Tobias Ende, Nico Blodow, Matteo Saveriano, Kai Krieger, Alexis Maldonado, Ingo Kresse, Roman Weitschat, Dongheui Lee, Michael Beetz & Sami Haddadin (2014): Human-Robot interaction PlanningAAAI 2014 Video Competition.