Publications of the Institute of Automatic Control

Schiller, J. D. & Müller, M. A. (2024): Robust stability of moving horizon estimation for continuous-time systems,  at - Automatisierungstechnik, Vol. 72, No. 2, pp. 120-133
DOI: 10.1515/auto-2023-0087
arXiv: 2305.06614

Schiller, Julian D. and Müller, Matthias A. (2024): Moving horizon estimation for nonlinear systems with time-varying parameters,  Accepted for presentation at NMPC 2024, Kyoto, Japan
arXiv: 2404.09566

Alsalti, M.; Barkey, M.; Lopez, V. G. & Müller, M. A. (2023): Sample- and computationally efficient data-driven predictive control,  submitted
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 systems,  IEEE 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 systems,  submitted
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 systems,  submitted
arXiv: 2312.03451

Alsalti, M.; Lopez, V. G; Berberich, J.; Allgöwer, F. & Müller, M. A. (2023): Data-Based Control of Feedback Linearizable Systems,  IEEE 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 data,  submitted
arXiv: 2307.11589

Knüfer, S. & Müller, M. A. (2023): Nonlinear Full Information and Moving Horizon Estimation: Robust Global Asymptotic Stability,  Automatica, 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 systems,  submitted
arXiv: 2312.13658

Lopez, V. G.; Alsalti, M. & Müller, M. A. (2023): Efficient Off-Policy Q-Learning for Data-Based Discrete-Time LQR Problems,  IEEE Transactions on Automatic Control, pp. 1-12
DOI: 10.1109/TAC.2023.3235967

Nonhoff, M. & Müller, M. A. (2023): On the relation between dynamic regret and closed-loop stability,  Systems & Control Letters, vol. 177, p. 105532
DOI: 10.1016/j.sysconle.2023.105532
arXiv: 2209.05964

Schiller, J. D. & Müller, M. A. (2023): Nonlinear moving horizon estimation for robust state and parameter estimation,  Submitted
arXiv: 2312.13175

Schiller, J. D. & Müller, M. A. (2023): Suboptimal nonlinear moving horizon estimation,  IEEE Transactions on Automatic Control, Vol. 68, No. 4, pp. 2199-2214
DOI: 10.1109/TAC.2022.3173937
arXiv: 2108.13750

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 detectability,  IEEE 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 estimation,  IEEE 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 stability,  IEEE 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 constraints,  IEEE 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 Control,  IEEE 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 Convergence,  submitted
arXiv: 2210.16106

Berberich, J.; Köhler, J.; Müller, M. A. & Allgöwer, F. (2022): Linear tracking MPC for nonlinear systems part I: the model-based case,  IEEE Trans. Automat. Control, Vol. 67, Issue 9, pp. 4390-4405
DOI: 10.1109/TAC.2022.3166872
arXiv: 2105.08560

Berberich, J.; Köhler, J.; Müller, M. A. & Allgöwer, F. (2022): Linear tracking MPC for nonlinear systems part II: the data-driven case,  IEEE Trans. Automat. Control, Vol. 67, Issue 9, pp. 4406-4421
DOI: 10.1109/TAC.2022.3166851
arXiv: 2105.08567

Grüne, L.; Krügel, L. & Müller, M. A. (2022): Multiobjective strict dissipativity via a weighted sum approach,  Systems & 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 Treatment,  IEEE 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 control,  Int 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 control,  IEEE 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 MPC,  IEEE 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 Systems,  IEEE 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 kHz,  at - 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 treatment,  Control 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 MPC,  submitted
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 Agents,  submitted
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 Syndrome,  Frontiers 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 approach,  Frontiers 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 Systems,  submitted
arXiv: 2210.09017

Becker, M.; Lilge, T.; Müller, M. A. & Haddadin, S. (2021): Circular Fields and Predictive Multi-Agents for Online Global Trajectory Planning,  IEEE Robotics and Automation Letters, 2021, 6, 2618-2625
DOI: 10.1109/LRA.2021.3061997

Berberich, J.; Köhler, J.; Müller, M. A. & Allgöwer, F. (2021): Data-driven model predictive control: closed-loop guarantees and experimental results,  at–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 Guarantees,  IEEE 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 problems,  Mathematical 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 information,  IFAC 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 laser,  Advanced 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 approach,  Automatica, 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 model,  Journal 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 therapies,  at - 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 systems,  International 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 ingredients,  IEEE 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 Signals,  Automatica 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 control,  Journal 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 systems,  IEEE 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 vehicles,  Control 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 MPC,  Automatica, 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 optimization,  Automatica, 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 perspective,  IEEE 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 Hand,  Computer 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 Network,  IEEE 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 MPC,  Automatica, 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 analysis,  Frontiers 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 Properties,  IEEE 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 Estimation,  IEEE 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 Control,  Foundations 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 Dribbling,  IEEE Transactions on Robotics, Volume: 34, Issue: 1, Feb. 2018, 91-112 More info
DOI: 10.1109/TRO.2017.2765684

Köhler, J.; Müller, M. A. & Allgöwer, F. (2018): On periodic dissipativity notions in economic model predictive control,  IEEE Control Systems Letters, vol. 2, no. 3, pp. 501-506.
DOI: 10.1109/LCSYS.2018.2842426

Köhler, P. N. ; Müller, M. A. & Allgöwer, F. (2018): A distributed economic MPC framework for cooperative control under conflicting objectives,  Automatica, 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 Identification,  IEEE 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 Skeleton,  Computer 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 Properties,  IEEE Robotics and Automation Letters, vol. 3, no. 3, pages 1880-1887 More info
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 contractions,  Computers 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 Energietanks,  at - 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 Identification,  IEEE Transactions on Robotics, 33(6), 1292-1312 More info
DOI: 10.1109/TRO.2017.2723903

Houska, B. & Müller, M. A. (2017): Cost-to-travel functions: a new perspective on optimal and model predictive control,  Syst. Contr. Lett., vol. 106, pp. 79-86.
DOI: 10.1016/j.sysconle.2017.06.005

Johannsmeier, L., Haddadin, S. (2017): A Hierarchical Human-Robot Interaction-Planning Framework for Task Allocation in Collaborative Industrial Assembly Processes,  IEEE Robotics and Automation Letters (RA-L), Volume 2, Issue 1, p. 41-48 More info
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 Contacts,  IEEE Robotics and Automation Letters (RA-L), Volume 2, Issue 1, p. 72 - 79. More info
DOI: 10.1109/LRA.2016.2536360

Lorenzen, M.; Müller, M. A. & Allgöwer, F. (2017): Stochastic Model Predictive Control without Terminal Constraints,  Int. 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 control,  SICE 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 disturbances,  Automatica, 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 MPC,  Automatica, 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 Robots,  IEEE 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 Information,  Automatica, 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 properties,  System & Control Letters, vol. 90, pp. 45-53 (Brockett-Willems Outstanding Paper Award for the best paper published in Systems & Control Letters in the period 2014-2018).
DOI: 10.1016/j.sysconle.2016.01.003

Müller, M. A. & Grüne, L. (2016): Economic model predictive control without terminal constraints for optimal periodic behavior,  Automatica, vol. 70, pp. 128-139.
DOI: 10.1016/j.automatica.2016.03.024

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 More info
DOI: 10.1109/LRA.2015.2511663

Müller, M. A.; Angeli, D. & Allgöwer, F. (2015): On necessity and robustness of dissipativity in economic model predictive control,  IEEE Trans. Automat. Control, vol. 60, no. 6, pp. 1671-1676.
DOI: 10.1109/TAC.2014.2361193

Müller, M. A.; Liberzon, D. & Allgöwer, F. (2015): Norm-controllability of nonlinear systems,  IEEE 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 Robotics,  Robotica
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 Interfaces,  The 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 Control,  J. 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 Interaktion,  at - 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 cost,  J. 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 control,  Automatica, 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 constraints,  Automatica, 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 impact,  Robotica, vol. 32.
DOI: 10.1017/S0263574714000137

Müller, M. A.; Angeli, D. & Allgöwer, F. (2013): Economic model predictive control with self-tuning terminal cost,  European 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-time,  Automatica, 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 systems,  Automatica, 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 systems,  Automatica, 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-time,  J. 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 control,  Int. 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 Robots,  The 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 TTCAN,  In Taylor, M. (Ed.): CAN Newsletter, no. 4, Dez., CAN in Automation GmbH, pp. 12-18. More info

Albert, A. & Gerth, W. (2003): Bewegungsalgorithmen für zweibeinige Roboter ohne Oberkörper,  at -- 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 Trunk,  Journal 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 Robots,  SPIE - 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 Sensors,  TNT -- 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 Observers,  International 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 Lebensraum,  at -- 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 approach,  Robotics 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 MPC555,  In 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-Einheit,  Elektronik, 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 cerevisiae,  Biotechnology 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 Theorem,  Physical Review E, vol. 59, no. 4, April, pp. 4691-4694. More info
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 cerevisiae,  Journal 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 systems,  European 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 Antwortzeiten,  Elektronik, no. 13, pp. 114-120.

Probol, T. & Wolter, B. (1997): Industrielle Prozesse mit 20KHz regeln,  Systeme, vol. 11, no. 10, pp. 34-36.

Lichtenberg, M. (1994): Generierung kennliniengleicher Fuzzy-Regler aus den Parametern konventioneller (PID-)Regler,  at -- Automatisierungstechnik, vol. 42, no. 12, pp. 540-546.

Gralla, C. & Lilge, T. (1992): Digitale Regelungen erfordern eine gute äquidistanz zyklisch eingeplanter Prozesse,  VMEbus, 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 model,  Chemical 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 Fermenter,  Computers 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-Prozessen,  Chemie 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 phase,  Applied 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 Wellenmaschine,  at -- Automatisierungstechnik, vol. 39, pp. 147 - 150.

Husmann, H. (1991): Anwendungsschicht für Feldbussysteme unter RTOS-UH,  Elektronik, no. 25, pp. 158 - 164.

Kluge, M. & Thoma, M. (1991): Beobachtergestützte Regelung eines Doppelpendels,  Automatisierungstechnik at, vol. 39, no. 9, pp. 304 - 309.

Gerth, W. & Niemann, K. H. (1990): PEARL-Programme laufen ohne änderungen,  VMEbus, vol. 4, no. 1, pp. 38 - 49.

Kluge, M. & Thoma, M. (1990): Aufschwingen eines Pendels mit strukturvariablem Regler,  at -- Automatisierungstechnik, vol. 38, pp. 114 - 117.

Gerth, W. & Niemann, K. H. (1989): Fragen zur Bewertung von Echtzeitbetriebssystemen - Daten einer Hochsprachenrealisierung,  In Huttenloher, R. & Fey, J. (Ed.): Echtzeitbetriebssysteme, Verlag Markt & Technik, pp. 31 - 44.

Gerth, W. & Niemann, K. H. (1989): Ein Echtzeitbetriebssystem für PEARL,  VMEbus, vol. 3, no. 5, pp. 81 - 86.

Gerth, W. & Niemann, K. H. (1989): Bewertung von Echtzeitbetriebssystemen,  Design & Elektronik, no. 26, pp. 60 - 66.

Niemann, K.-H. (1988): Rennquartett - RTOS-PEARL für Multiprozessoren,  c't Magazin für Computertechnik, vol. 11, pp. 80 - 86.

Niemann, K.-H. (1988): Ein einheitliches PEARL Programmiersystem vom PC bis zum Multiprozessor,  Personal-Realtime-Computing '88, Markt & Technik Verlag, Haar, pp. 57 - 67.

Thoma, M. (1988): Regelungs- und Prozeßrechnertechnik - interdisziplinär,  BioEngineering, 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 parameters,  Applied 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 Reactor,  Biotechnology Progress, vol. 3, no. 4, pp. 248 - 258.
DOI: 10.1002/btpr.5420030409

Niemann, K.-H. & Hausdörfer, R. (1987): Echtzeitdatenverarbeitung mit RTOS-PEARL,  Chip Plus 7, Vogel Verlag, Würzburg, pp. 18 - 21.

Ronge, P. & Thoma, M. (1987): Über die angenäherte Lösung nichtlinearer Regelungsprobleme mittels Zustandsraumverfahren und Reihenentwicklungen,  at -- Automatisierungstechnik, vol. 34, no. 8, pp. 242 - 249.
DOI: 10.1524/auto.1987.35.112.246

Thoma, M. (1987): IFAC-Weltkongreß in München,  at -- 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 fermentation,  IEE 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 processes,  IEE 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): Echtzeitkomfort,  Hard und Soft, no. 7/8, pp. 11 - 15.

Nothdurft, J. & Thoma, M. (1986): Zweiebenen-Regelung mittels ordnungsreduzierter Modelle,  msr messen-steuern-regeln, no. 8, pp. 360 - 362.

Posten, C. & Thoma, M. (1986): Modellierung des Stoffwechsels von Zymomonas mobilis,  BIO 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 cellulose,  Journal 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 substrate,  IEE 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 substrate,  Applied 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 cellulolyticum,  Journal of Biotechnology, vol. 2, pp. 207-224.
DOI: 10.1016/0168-1656(85)90039-2

Gerth, W. (1983): PEARL-System für Einplatinenrechner,  Regelungstechnische Praxis, vol. 25, pp. 490.

Alsalti, M.; Lopez, V. G.; Berberich, J.; Allgöwer, F. & Müller, M. A. (2023): Data-driven nonlinear predictive control for feedback linearizable systems,  22nd IFAC World Congress: Yokohama, Japan, July 9-14, 2023. IFAC-PapersOnLine, Vol. 56, Issue 2, pp. 617-624
DOI: 10.1016/j.ifacol.2023.10.1636
arXiv: 2211.06339

Becker, M.; Caspers, P.; Hattendorf, T.; Lilge, T.; Haddadin, S. & Müller, M. A. (2023): Informed Circular Fields for Global Reactive Obstacle Avoidance of Robotic Manipulators,  22nd IFAC World Congress: Yokohama, Japan, July 9-14, 2023. IFAC-PapersOnLine, Vol. 56, Issue 2, pp. 1017-1022
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 times,  22nd 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 problem,  Accepted 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 agents,  Proceedings on Automation in Medical Engineering More info
arXiv: 2307.16690

Nonhoff, M.; Köhler, J. & Müller, M. A. (2023): Online convex optimization for constrained control of linear systems using a reference governor,  22nd 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 convergence,  22nd 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 Estimation,  Accepted 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 perspective,  2022 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 systems,  IFAC-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 systems,  2022 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' lemma,  IEEE 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 Systems,  2022 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 Systems,  60th 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 MPC,  IFAC-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 treatment,  7th 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 Control,  7th 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 systems,  2021 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 constraints,  2021 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 Solution,  IFAC-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 MPC,  In 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 systems,  21st 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 Systems,  In 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 MPC,  In 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 Setpoints,  21st 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 Stability,  In 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 Systems,  21st 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 constraints,  21st 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 Vehicles,  21st 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 systems,  2020 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 Conditions,  21st 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 vehicles,  18th 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 Control,  2019 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 MPC,  18th 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 conservatism,  58th 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 systems,  18th 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 interconnections,  58th 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 Rates,  8th 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 Oscillator,  Joint 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 Control,  18th 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 systems,  58th 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 Systems,  Joint 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 Avoidance,  2018 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 autoencoders,  OTWorld Congress, Leipzig, Germany, 15.-18. May, More info
DOI: 10.15488/3679

Knüfer, S. & Müller, M. A. (2018): Robust Global Exponential Stability for Moving Horizon Estimation,  Proc. 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 Approach,  Proc. 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 control,  Proc. 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 computations,  Proc. 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 MPC,  IFAC-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 Task,  IEEE International Conference on Simulation, Modeling, and Programming for Autonomous Robots (SIMPAR), pp. 158-165 More info
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 Objectives,  2018 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 Uncertainty,  IFAC-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 performance,  Proc. 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 Dynamics,  IEEE 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 Approach,  Proc. 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 constraints,  Proc. 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 Constraints,  Proc. 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 Manipulators,  IEEE/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 Minimization,  IEEE/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 dissipativity,  Proc. 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 Primitives,  IEEE 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 Joint,  Robotics and Automation (ICRA), 2017 IEEE International Conference on More info
DOI: 10.1109/ICRA.2017.7989149

Tomic, Teodor and Haddadin, Sami (2017): Towards Interaction, Disturbance and Fault Aware Flying Robot Swarms,  International 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 Humanoids,  Robotics and Automation (ICRA), 2017 IEEE International Conference on More info
DOI: 10.1109/ICRA.2017.7989552

Aydiner, E.; Müller, M. A. & Allgöwer, F. (2016): Periodic Reference Tracking for Nonlinear Systems via Model Predictive Control,  Proc. 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 Performance,  Proc. 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 Estimation,  Proc. 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 Systems,  Proc. 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 systems,  Proc. 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 constraints,  2016 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 disturbances,  Proc. 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 wrenches,  2016 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 Compensation,  2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2016) More info
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 Information,  Proc. 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 Control,  Proc. 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-workers,  Intelligent 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 interaction,  2015 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 Robots,  2015 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 operation,  Proc. 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 control,  Proc. 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 Arms,  15th IEEE-RAS International Conference on Humanoid Robots (2015) More info
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 Tanks,  Robotics 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 Detection,  2015 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 Control,  Proc. 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 GPU,  International 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 problems,  Proc. 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 cost,  Proc. 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 deflection,  2014 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 Springs,  19th IFAC World Congress, Cape Town, South Africa, pages 8487-8495 More info
DOI: 10.3182/20140824-6-ZA-1003.01193

Özparpucu, M. & Haddadin, S. (2014): Optimal Control of Elastic Joints with Variable Damping,  European 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 failure,  Proc. 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 Robots,  2014 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-time,  2014 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 operation,  Proc. 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 weight,  Proc. 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 constraints,  Proc. 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 inputs,  Proc. 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 Unterputzdaten,  Automation 2012, VDI-Berichte, no. 2171, Jun 13-14, Baden-Baden, VDI Verlag GmbH, Düsseldorf, pp. 321-324. More info

Müller, M. A. & Allgöwer, F. (2012): Robustness of steady-state optimality in economic model predictive control,  Proc. 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 systems,  Proc. 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 MPC,  Proc. 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 Craftsmen,  Proceedings of the 7th German Conference on Robotics (ROBOTIK 2012), May 21-22, Munich, Germany, VDE Verlag, Berlin, pp. 24-29. CD-ROM. More info

Joos, A.; Müller, M. A.; Baumgärtner, D.; Fichter, W. & Allgöwer, F. (2011): Nonlinear Predictive Control Based on Time-Domain Simulation for Automatic Landing,  Proc. 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-time,  Proc. 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 systems,  Proc. 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 control,  Proc. 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 Systems,  Proc. 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 Systems,  Proc. 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 systems,  Proc. 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-time,  Proc. 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 systems,  Proc. European Control Conf. (ECC), Budapest, Hungary, pp. 2146-2151.
DOI: 10.23919/ECC.2009.7074722

Pietsch, B. & Gerth, W. (2009): Universeller hybrider Systembeobachter für Echtzeitsysteme,  In 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 Robots,  Proceedings 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 III,  In 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 Robotern,  42. Regelungstechnisches Kolloquium -- Kurzfassung der Beiträge, Feb., Boppard, pp. 39-40. More info

Lilge, T., Gerth, W. & Goronczy, A. (2007): Zur Selbstlokalisierung mobiler Systeme bei fehlenden absoluten Referenzen,  In 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 Bahnplanung,  In 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 Robots,  French-German Workshop on Humanoid and Legged Robots (HLR'06), Sep 25-26, Karlsruhe, Deutschland.

Höhn, O. & Gerth, W. (2006): Probabilistic Balance Monitoring for Bipedal Robots,  Proceedings 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 System,  Proceedings of the 1st International ECRTS Workshop on Real-Time and Control (RTC 2005), Jul 6-8, Palma de Mallorca, Spanien, pp. 105-110. More info

Gerecke, M. & Gerth, W. (2005): Aufbau eines Stereokamerasystems zum Betrieb unter RTOS-UH,  In 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. More info
DOI: 10.1007/3-540-29595-X_5

Höhn, O., Gacnik, J. & Gerth, W. (2005): Detection and Classification of Posture Instabilities of Bipedal Robots,  Proceedings 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 Echtzeitbetriebssystem,  In 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. More info
DOI: 10.1007/3-540-29595-X_13

Seebode, M., Strasser, R., Lilge, T. & Gerth, W. (2005): Datenfusion in einem künstlichen Gleichgewichtsorgan für autonome Roboter,  39. Regelungstechnisches Kolloquium -- Kurzfassung der Beiträge, Feb., Boppard, pp. 14-15. (Nicht veröffentlicht). More info

Hofschulte, J., Gerth, W. & Seebode, M. (2004): Parallel Manipulator Hip Joint for a Bipedal Robot,  In 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 Hannover,  Proceedings 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 Reaktionen,  In Holleczek, P. & Vogel-Heuser, B. (Ed.): Eingebettete Systeme. PEARL 2004, Informatik aktuell, Berlin Heidelberg, Springer, pp. 60-69. More info
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 TTCAN,  9th International CAN Conference, iCC 2003, Okt., München, pp. 05-1-05-8. More info

Albert, A. & Strasser, R. (2003): Realisierung einer zeitgesteuerten, verteilten Regelung mit einem CAN-TTCAN-Gateway,  In Holleczek, P. & Vogel-Heuser, B. (Ed.): Verteilte Echtzeitsysteme. PEARL 2003, Informatik aktuell, Berlin Heidelberg, Springer-Verlag, pp. 39-48. More info
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 Ereignisse,  Embedded 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 System,  9th International CAN Conference, iCC 2003, Okt., München, pp. 05-9-05-16. More info

Gerecke, M., Hofschulte, J. & Gerth, W. (2003): Realization of a Lightweight Sensory Foot for a Bipedal Robot,  In 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 Applications,  In 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 Laufroboter,  In Holleczek, P. & Vogel-Heuser, B. (Ed.): Verteilte Echtzeitsysteme. PEARL 2003, Informatik aktuell, Berlin Heidelberg, Springer-Verlag, pp. 49-58. More info
DOI: 10.1007/978-3-642-55617-3_7

Albert, A. (2002): Dynamisch stabiles Gehen für eine autonome, zweibeinige Laufmaschine,  36. Regelungstechnisches Kolloquium -- Kurzfassung der Beiträge, Feb., Boppard, pp. 40-41. (Nicht veröffentlicht). More info

Gerecke, M., Albert, A. & Gerth, W. (2002): Vision Guided Biped Walking -- Trajectories and Communication,  In 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 Robot,  Tagungsband 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 Walking,  Proceedings 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 Robot,  4th 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 Robot,  4th 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 Robot,  2001 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 Roboterprojekt,  In 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 Systems,  1st 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 Robot,  Preprints 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-UH,  VDI Berichte 1552: ROBOTIK 2000, Juni, Berlin, pp. 509-514.

Gerth, W. & Wolter, B. (2000): Orthogonale Walsh-Korrelation zur qualitativen Beurteilung der Reaktivität von Betriebssystemen,  In Holleczek, P. (Ed.): PEARL 2000 - Workshop über Realzeitsysteme, Informatik aktuell, Berlin Heidelberg, Springer-Verlag, pp. 33-42.
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Scherm, N. (2000): Nichtlineare zeitdiskrete Regelung eines unteraktuierten Manipulators,  34. Regelungstechnisches Kolloquium -- Kurzfassung der Beiträge, Feb., Boppard, pp. 60-61. (Nicht veröffentlicht). More info

Albert, A., Gerth, W., Hofschulte, J. & Schermeier, O. (1999): Echtzeitsystem für einen zweibeinigen Roboter,  In Holleczek, P. (Ed.): PEARL 99 - Workshop über Realzeitsysteme, Informatik aktuell, Berlin Heidelberg, Springer-Verlag, pp. 69-78.
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Huijberts, H.; Lilge, T. & Nijmeijer, H. (1999): Synchronization and observers for nonlinear discrete-time systems,  1999 European Control Conference (ECC), pp. 4643-4648 More info
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Scherm, N. & Heimann, B. (1999): Discrete-Time Control of Underactuated Manipulation Systems,  Proceedings 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 Systeme,  32. Regelungstechnisches Kolloquium -- Kurzfassung der Beiträge, Feb., Boppard, pp. 15-16. (Nicht veröffentlicht). More info

Bartling, R., Beuse, M., Kopmann, A., Diekmann, H. & Thoma, M. (1997): Populationsverteilung oszillierender Chemostatkulturen von Saccharomyces cerevisiae,  Sonderband VAAM-Tagung, Hamburg, pp. 105.

Beuse, M., Kopmann, A., Diekmann, H. & Thoma, M. (1997): Populationsverteilung und Wachstumsmodus von Saccharomyces cerevisiae,  Sonderband Dechema-Tagung, Münster, pp. 198-201.

Thoma, M., Kopmann, A., Diekmann, H. & Beuse, M. (1997): Zellkultivierungsanlage mit Hochleistungs-Instrumentierung,  Biotechnologie, 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 cerevisiae,  Sonderband VAAM-Tagung, Bayreuth, pp. 99.

Gerth, W. & Wolter, B. (1996): Power PEARL auf einem transferassembliertem Echtzeitbetriebssystem zur Steuerung schneller Maschinen,  In Holleczek, P. (Ed.): PEARL 96 - Workshop über Realzeitsysteme, Informatik aktuell, Berlin Heidelberg, Springer-Verlag, pp. 1-11.
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Lichtenberg, M. (1995): Analytische Methoden zur Generierung eines Fuzzy-Reglers am Beispiel eines invertierten Doppelpendels,  29. Regelungstechnisches Kolloquium -- Kurzfassung der Beiträge, Feb., Boppard, pp. 31-33. (Nicht veröffentlicht).

Lichtenberg, M. (1994): Verwendung von analytischem Prozeßwissen beim Entwurf von Fuzzy-Reglern,  Fuzzy Systeme '94.

Brdomann, M. (1993): Entwurf zeitdiskreter nichtlinearer Beobachter,  27. Regelungstechnisches Kolloquium -- Kurzfassung der Beiträge, 24.-26. Feb., Boppard, pp. 36-38. (Nicht veröffentlicht).

Husmann, H. (1993): Zur Echtzeitreaktivität von Feldbussen,  In Holleczek, P. (Ed.): PEARL 93 - Workshop über Realzeitsysteme, Informatik aktuell, Berlin Heidelberg, Springer-Verlag, pp. 118-128.
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Schulze, K. (1993): Echtzeitfähige Simulation dynamischer Systeme auf Kleinstrechnern,  In Holleczek, P. (Ed.): PEARL 93 - Workshop über Realzeitsysteme, Informatik aktuell, Berlin Heidelberg, Springer-Verlag, pp. 129-137.
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Gerth, W. (1992): Konzept und vergleichende Leistungsdaten eines hochreaktiven PEARL-orientierten RISC-Echtzeitbetriebssystemes,  In Rzehak, H. (Ed.): Kongress-Vorträge ECHTZEIT '92, Juni, Sindelfingen, pp. 267-178.
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Lilge, T. & Gralla, C. (1992): Drei Echtzeitbetriebssysteme für die digitale Regelung im Vergleich,  In Rzehak, H. (Ed.): Kongress-Vorträge ECHTZEIT '92, Juni, Sindelfingen, pp. 253-262.
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Husmann, H. (1991): Ein verteiltes Filesystem für Echtzeitanwendungen,  Echtzeit '91 Kongreßvorträge, pp. 235 - 242.
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Schulze, K. (1991): Ein echtzeit- und echtsignalfähiges CACSD-Paket zum Regelkreisentwurf,  25. 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 Multiprozessorsystem,  5. 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 Prozeßrechnersystem,  Echtzeit '90 Kongreßvorträge.

Arlt, R. & Gralla, C. (1990): Integration des PROFIBUS-Systems in eine Echtzeitumgebung,  Feldbus-Workshop, Fachhochschule Osnabrück.

Reinisch, K. & Thoma, M. (Eds.) (1990): Proceedings of the 5th IFAC/IFORS/IMACS Symposium Large Scale Systems: Theory and Applications, 1989,  IFAC 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 Fermenter,  In 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 Multiprozessoren,  Prozeßrechensystenme '88, Informatik Fachberichte, no. 167, Springer Berlin Heidelberg New York, pp. 772 - 781.
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Kluge, M. (1987): Modellbildung am Beispiel der Penicillin- Fermentation,  21. Regelungstechnisches Kolloquium, 19.-20. Feb, Boppard.

Thoma, M. (1987): Trends in Instrumentation and Control,  IFAC Proceedings No. 7, pp. 1 - 3.

Thoma, M. (1986): Trends in Instrumentation and Control,  In 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-Kongreß,  In 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 Regelalgorithmen,  19. Regelungstechnisches Kolloquium, 21.-22. Feb, Boppard.

Angeli, D. & Müller, M. A. (2019): Economic Model Predictive Control: some design tools and analysis techniques,  In Rakovic, S. V. & Levine, W. S. (Ed.): Handbook of Model Predictive Control, Birkh'auser Basel, pp. 145-167.
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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 Demands,  Robotics 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 model,  Computer 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 Constraints,  In: 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 Interaction,  Springer 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-Time,  Inaba, 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 Momentenkreiseln,  In: Heimann, B. and Albert, A. and Ortmaier, T. and Rissing, L. (Eds.): Mechatronik, Komponenten - Methoden - Beispiele, Fachbuchverlag Leipzig im Carl Hanser, 2015, S. 402. More info

Haddadin, S. (2015): Optimal Exploitation of Soft-Robot Dynamics,  Verl, A. and Albu-Schäffer, A. and Brock, O. and Raatz, A. (eds): Soft Robotics - Transferring Theory to Application. Springer Vieweg More info
DOI: 10.1007/978-3-662-44506-8_9

Haddadin, S. (2015): Physical Safety in Robotics,  Springer 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 control,  In 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 synchronization,  In 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 farming,  In 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 Laufmaschine,  In B. Heimann, W. Gerth & K. Popp: Mechatronik, Komponenten - Methoden - Beispiele, 3. ed., Leipzig, Hanser Fachbuchverlag, pp. 320-332. More info

Lilge, T. (1999): Nonlinear Discrete-Time Observers for Synchronization Problems,  In 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 Doppelpendels,  In 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-Echtzeitbetriebssystemes,  In Rzehak, H. (Ed.): Echtzeitsysteme und Fuzzy Control, Wiesbaden, Vieweg, pp. 199-215.
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Lilge, T. & Gralla, C. (1994): Drei Echtzeitbetriebssysteme für die digitale Regelung im Vergleich,  In Rzehak, H. (Ed.): Echtzeitsysteme und Fuzzy Control, Wiesbaden, Vieweg, pp. 73-89.
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Gerth, W. & Gottfriedsen, J. (1991): RISC contra CISC - Beobachtungen bei der Portierung eines Echtzeitbetriebssystems,  Informatik Fachberichte 295, Springer, pp. 166 - 179.

Gralla, C. (1991): Quantitativer Vergleich von drei Echtzeitbetiebssystemen für die digitale Prozeßregelung,  Informatik 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 sophistication,  In 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: History,  Systems and Control Encyclopedia, vol. 4, Pergamon Press, Oxford, pp. 2571 - 2575.

Knobloch, H. W. & Thoma, M. (1984): Aspects of Modern Control Theory,  Perspectives in Mathematics, Anniversary of Oberwolfach, pp. 337-376.

Faulwasser, T.; Müller, M. A. & Worthmann, K. (Eds.) (2021): Recent Advances in Model Predictive Control - Theory, Algorithms, and Applications,  Springer
ISBN: 978-3-030-63281-6

Ma’touq, Jumana (2019): Human hand neuromechanics for the design of robotic intelligent upper limb prostheses,  Dissertation, Gottfried Wilhelm Leibniz Universität
DOI: 10.15488/5588

Tomic, Teodor (2018): Model-based control of flying robots for robust interaction under wind influence,  Dissertation, Gottfried Wilhelm Leibniz Universität
DOI: 10.15488/3987

Haddadin, S. (2014): Towards Safe Robots: Approaching Asimov's 1st Law,  Springer Publishing Company, Incorporated.
DOI: 10.1007/978-3-642-40308-8

Müller, M. A. (2014): Distributed and economic model predictive control: beyond setpoint stabilization,  Ph.D. Thesis, Institute for Systems Theory and Automatic Control, University of Stuttgart.

Schollmeyer, M. (2010): Beitrag zur modellbasierten Ladedruckregelung für Pkw-Dieselmotoren,  Aachen, Shaker Verlag. Dissertation Leibniz Universität Hannover. More info

Höhn, O. (2008): Erkennung, Klassifikation und Vermeidung von Stürzen zweibeiniger Roboter,  Norderstedt, Books On Demand. Dissertation, Leibniz Universität Hannover. More info

Heimann, B., Gerth, W. & Popp, K. (2007): Mechatronik, Komponenten - Methoden - Beispiele,  3. Ed., Leipzig, Hanser Fachbuchverlag. ISBN-10: 3-446-40599-2. More info

Hofschulte, J. (2006): Zweibeiniger Roboter mit parallelkinematischen Hüftgelenken,  Norderstedt, Books On Demand GmbH. Dissertation, Leibniz Universität Hannover. More info

Strasser, R. (2005): Untersuchung von Beobachterverfahren für eine inertiale Messeinheit,  VDI-Fortschrittberichte, no. 1072 der Reihe 8, Düsseldorf, VDI-Verlag. ISBN: 3-18-507208-1. Dissertation, Universität Hannover. More info

Albert, A. (2002): Intelligente Bahnplanung und Regelung für einen autonomen, zweibeinigen Roboter,  VDI-Fortschrittberichte, no. 927 der Reihe 8, Düsseldorf, VDI-Verlag. Dissertation, Universität Hannover.

Wolter, B. (2002): Messung der Dienstgüte von Echtzeitbetriebssystemen durch Walsh-Korrelation,  VDI-Fortschrittberichte, no. 964 der Reihe 8, Düsseldorf, VDI-Verlag. Dissertation, Universität Hannover.

Bunzel, S. (2001): Automatisch Generierte Fuzzy-Modelle und -Regler für nichtlineare Systeme,  VDI-Fortschrittberichte, no. 916 der Reihe 8, Düsseldorf, VDI-Verlag. Dissertation, Universität Hannover.

Heimann, B., Gerth, W. & Popp, K. (2001): Mechatronik, Komponenten - Methoden - Beispiele,  2. ed., München, Fachbuchverlag Leipzig im Carl Hanser Verlag.

Kopmann, A. (2001): Diskrete Wachstumsmodi in synchroner kontinuierlicher Kultur von Mikroorganismen: Erweiterung eines Populations- und Zellzyklusmodelles,  Dissertation, Universität Hannover.

Probol, T. (2000): Zur Synthese Nichtlinearer Regelgesetze mit Neuronalen Reglern,  VDI-Fortschrittberichte, no. 819 der Reihe 8, Düsseldorf, VDI-Verlag. Dissertation, Universität Hannover.

Lilge, T. (1999): Zum Entwurf nichtlinearer zeitdiskreter Beobachter mittels Normalformen,  VDI-Fortschrittberichte, no. 752 der Reihe 8, Düsseldorf, VDI-Verlag. Dissertation, Universität Hannover.
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Scherm, N. (1999): Zum Entwurf nichtlinearer zeitdiskreter Beobachter mittels affiner Approximationen,  VDI-Fortschrittberichte, no. 806 der Reihe 8, Düsseldorf, VDI-Verlag. Dissertation, Universität Hannover.

Heimann, B., Gerth, W. & Popp, K. (1998): Mechatronik, Komponenten - Methoden - Beispiele,  München, Fachbuchverlag Leipzig im Carl Hanser Verlag.

Husmann, H. (1997): Ein Beitrag zur Untersuchung des dynamischen Verhaltens feldbusgestützer Regelkreise,  VDI-Fortschrittberichte, no. 655 der Reihe 8, Düsseldorf, VDI-Verlag. Dissertation, Universität Hannover.

Lichtenberg, M. (1996): Ein Beitrag zum systematischen Entwurf von Fuzzy-Reglern,  VDI-Fortschrittberichte, no. 535 der Reihe 8, Düsseldorf, VDI-Verlag. Dissertation, Universität Hannover.

Wendt, K. (1996): Modellierung des menschlichen Atmungssystems,  VDI-Fortschrittberichte, no. 133 der Reihe 17, Düsseldorf, VDI-Verlag. Dissertation, Universität Hannover.

Brodmann, M. (1994): Beobachterentwurf für nichtlineare zeitdiskrete Systeme,  VDI-Fortschrittberichte, no. 416 der Reihe 8, Düsseldorf, VDI-Verlag. Dissertation, Universität Hannover.

Schulze, K. (1993): Zustandsschätzung nichtlinearer Systeme mittels Approximationen,  VDI-Fortschrittberichte, no. 342 der Reihe 8, Düsseldorf, VDI-Verlag. Dissertation, Universität Hannover.

Heiser, V. (1992): Abtastregelung mit nichtsimultanen Messungen bei biotechnologischen Prozessen,  VDI-Fortschrittberichte, no. 285 der Reihe 8, Düsseldorf, VDI-Verlag. Dissertation, Universität Hannover.

Husmann, H. (1991): Interprozeßkommunikation und verteiltes Filesystem in einem Echtzeit-Netzwerksystem,  Informatik Fachberichte 295, Springer, pp. 678 - 687.
DOI: 10.1007/978-3-642-77060-9_61

Thoma, M. (1987): Systems and Control Encyclopedia, 6 Volumes,  In Thoma, M. (Ed.): Pergamon Press, Oxford.

Alsalti, M.; Berberich, J.;Lopez, V. G.; Allgöwer, F. & Müller, M. A. (2022): Practical exponential stability of a robust data-driven nonlinear predictive control scheme,  Supplementary 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

Kleyman, V.; Schaller, M.; Wilson, M.; Mordmüller, M.; Brinkmann, R.; Worthmann, K. & Müller, M. A. (2021): Towards model-based temperature-control for retinal laser therapies,  Proc. Workshop Automed 2021

Kleyman, V.; Abbas, H. S.; Brinkmann, R.; Worthmann, K. & Müller, M. A. (2020): Modelling of Heat Diffusion for Temperature Controlled Retinal Photocoagulation,  Proc. Workshop Automed More info

Mansfeld, Nico; Hamad, Mazin; Becker, Marvin; Gonzales Marin, Antonio & Haddadin, Sami (2018): Safety Map: A Tool for Global Robot Safety Evaluation and Safe Robot Design,  IEEE International Conference on Robotics and Automation (ICRA), Workshop on Autonomous Robot Design More info
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 System,  ICRA 2017 all-day workshop on "The robotic sense of touch: from sensing to understanding" on 29 May 2017 | File |

Vorndamme, J., Schappler, M. and Haddadin, S. (2017): Collision Handling for Humanoids using Proprioceptive Sensing,  IEEE International Conference on Robotics and Automation (ICRA), Workshop: The Robotic Sense of Touch: From Sensing to Understanding, Singapur, May 2017. | File |

Haddadin, Sami (2016): Demokratisierung der digitalisierten Automation: Der vernetzte, feinfühlige und lernfähige Roboter für Jedermann,  VDI-Wissensforum More info

Johannsmeier, L., Ringwald, J., Kuehn, J., Haddadin, S. (2016): Teleoperated Semi-Autonomous Control of the LWR and a Humanoid Hand via the Myo Armband,  IEEE International Conference on Robotics and Automation (ICRA), Workshop on Human-robot interfaces for enhanced physical interactions, Stockholm, May 2016, | File |

Kuehn, J., Vorndamme, J., Schappler, M., Haddadin, S. (2016): Humanoid Collision Reflex Sequences based on an artificial Robot Nervous System including Contact Location and Direction,  IEEE International Conference on Robotics and Automation (ICRA), Workshop on Legged Robot Falling: Fall Detection, Damage Prevention, and Recovery Actions, Stockholm, May 2016. | File |

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 More info

Haddadin, Sami (2015): Robots for Humans,  2015 German American Frontiers of Engineering, GAFOE 2015 of National Academy of Engineering of the National Academies & Alexander von Humboldt Foundation

Kuehn, Johannes and Haddadin, Sami (2015): Pain Reflexes For Robots To Evade Noxious Contact Events,  8th International Workshop on Human-Friendly Robotics, Munich, October 2015. More info

Lars Johannsmeier, Sami Haddadin (2015): A framework for task allocation in collaborative industrial assembly processes,  8th International Workshop on Human-Friendly Robotics, Munich, October 2015. More info

Tödtheide, Alexander and Lilge, Torsten and Haddadin, Sami (2015): Compliant Interaction with an Antagonistic Pneumatically Controlled Robot Joint,  8th International Workshop on Human-Friendly Robotics, Munich, October 2015 More info

Vorndamme, Jonathan and Schappler, Moritz and Tödtheide, Alexander and Haddadin, Sami (2015): Collision Detection with a Hydraulically Actuated Robot Arm,  8th International Workshop on Human-Friendly Robotics, Munich, October 2015 More info

Haddadin, S. (2014): Dynamic and Safe Motion Planning for Human Environments,  IROS 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 time,  7th International Workshop on Human-Friendly Robotics

Lilge, T. (1997): Discrete-time observers for nonlinear systems,  In Isidori, A. & Allgöwer, F. (Ed.): Proc. of the 1997 COSY Workshop on Control of Nonlinear and Uncertain Systems, Jan., ETH Zürich, pp. 202-210. More info

Lichtenberg, M. (1995): Analytische Methoden zur Generierung eines Fuzzy-Reglers am Beispiel eines invertierten Doppelpendels,  AFN-Jahrbuch 1995, Arbeitsgemeinschaft Fuzzy-Logik und Softcomputing Norddeutschland, 17-25

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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 Planning,  AAAI 2014 Video Competition.