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Berger, L.J. Lanza, IFAC-PapersOnLine (2021) 178–185.","apa":"Berger, T., &#38; Lanza, L. J. (2021). Output tracking for a non-minimum phase robotic manipulator. <i>IFAC-PapersOnLine</i>, 178–185. <a href=\"https://doi.org/10.1016/j.ifacol.2021.06.074\">https://doi.org/10.1016/j.ifacol.2021.06.074</a>","ieee":"T. Berger and L. J. Lanza, “Output tracking for a non-minimum phase robotic manipulator,” <i>IFAC-PapersOnLine</i>, pp. 178–185, 2021.","ama":"Berger T, Lanza LJ. Output tracking for a non-minimum phase robotic manipulator. <i>IFAC-PapersOnLine</i>. 2021:178-185. doi:<a href=\"https://doi.org/10.1016/j.ifacol.2021.06.074\">10.1016/j.ifacol.2021.06.074</a>","bibtex":"@article{Berger_Lanza_2021, title={Output tracking for a non-minimum phase robotic manipulator}, DOI={<a href=\"https://doi.org/10.1016/j.ifacol.2021.06.074\">10.1016/j.ifacol.2021.06.074</a>}, journal={IFAC-PapersOnLine}, author={Berger, Thomas and Lanza, Lukas Johannes}, year={2021}, pages={178–185} }","mla":"Berger, Thomas, and Lukas Johannes Lanza. “Output Tracking for a Non-Minimum Phase Robotic Manipulator.” <i>IFAC-PapersOnLine</i>, 2021, pp. 178–85, doi:<a href=\"https://doi.org/10.1016/j.ifacol.2021.06.074\">10.1016/j.ifacol.2021.06.074</a>."},"abstract":[{"lang":"eng","text":"We exploit a recently developed funnel control methodology for linear non-minimum phase systems to design an output error feedback controller for a nonlinear robotic manipulator, which is not minimum phase. We illustrate the novel control design by a numerical case study where we simulate end-effector output tracking of the robotic manipulator."}],"date_created":"2021-08-09T09:13:11Z","type":"journal_article"},{"author":[{"last_name":"Schulze Darup","first_name":"Moritz","full_name":"Schulze Darup, Moritz"},{"full_name":"Klädtke, Manuel","last_name":"Klädtke","first_name":"Manuel"},{"full_name":"Mönnigmann, Martin","first_name":"Martin","last_name":"Mönnigmann"}],"publication_identifier":{"issn":["2405-8963"]},"title":"Exact solution to a special class of nonlinear MPC problems","year":"2021","intvolume":"        54","date_updated":"2023-01-09T16:43:16Z","publication_status":"published","language":[{"iso":"eng"}],"doi":"10.1016/j.ifacol.2021.08.559","publication":"IFAC-PapersOnLine","issue":"6","extern":"1","date_created":"2023-01-09T16:34:42Z","department":[{"_id":"622"}],"type":"journal_article","keyword":["Control and Systems Engineering"],"status":"public","_id":"35576","publisher":"Elsevier BV","page":"290-295","volume":54,"user_id":"158","citation":{"bibtex":"@article{Schulze Darup_Klädtke_Mönnigmann_2021, title={Exact solution to a special class of nonlinear MPC problems}, volume={54}, DOI={<a href=\"https://doi.org/10.1016/j.ifacol.2021.08.559\">10.1016/j.ifacol.2021.08.559</a>}, number={6}, journal={IFAC-PapersOnLine}, publisher={Elsevier BV}, author={Schulze Darup, Moritz and Klädtke, Manuel and Mönnigmann, Martin}, year={2021}, pages={290–295} }","ama":"Schulze Darup M, Klädtke M, Mönnigmann M. Exact solution to a special class of nonlinear MPC problems. <i>IFAC-PapersOnLine</i>. 2021;54(6):290-295. doi:<a href=\"https://doi.org/10.1016/j.ifacol.2021.08.559\">10.1016/j.ifacol.2021.08.559</a>","mla":"Schulze Darup, Moritz, et al. “Exact Solution to a Special Class of Nonlinear MPC Problems.” <i>IFAC-PapersOnLine</i>, vol. 54, no. 6, Elsevier BV, 2021, pp. 290–95, doi:<a href=\"https://doi.org/10.1016/j.ifacol.2021.08.559\">10.1016/j.ifacol.2021.08.559</a>.","chicago":"Schulze Darup, Moritz, Manuel Klädtke, and Martin Mönnigmann. “Exact Solution to a Special Class of Nonlinear MPC Problems.” <i>IFAC-PapersOnLine</i> 54, no. 6 (2021): 290–95. <a href=\"https://doi.org/10.1016/j.ifacol.2021.08.559\">https://doi.org/10.1016/j.ifacol.2021.08.559</a>.","short":"M. Schulze Darup, M. Klädtke, M. Mönnigmann, IFAC-PapersOnLine 54 (2021) 290–295.","ieee":"M. Schulze Darup, M. Klädtke, and M. Mönnigmann, “Exact solution to a special class of nonlinear MPC problems,” <i>IFAC-PapersOnLine</i>, vol. 54, no. 6, pp. 290–295, 2021, doi: <a href=\"https://doi.org/10.1016/j.ifacol.2021.08.559\">10.1016/j.ifacol.2021.08.559</a>.","apa":"Schulze Darup, M., Klädtke, M., &#38; Mönnigmann, M. (2021). Exact solution to a special class of nonlinear MPC problems. <i>IFAC-PapersOnLine</i>, <i>54</i>(6), 290–295. <a href=\"https://doi.org/10.1016/j.ifacol.2021.08.559\">https://doi.org/10.1016/j.ifacol.2021.08.559</a>"}},{"volume":54,"user_id":"158","publisher":"Elsevier BV","_id":"35578","page":"238-243","status":"public","citation":{"ieee":"T. Faulwasser, S. Lucia, M. Schulze Darup, and M. Mönnigmann, “Teaching MPC: Which Way to the Promised Land?,” <i>IFAC-PapersOnLine</i>, vol. 54, no. 6, pp. 238–243, 2021, doi: <a href=\"https://doi.org/10.1016/j.ifacol.2021.08.551\">10.1016/j.ifacol.2021.08.551</a>.","apa":"Faulwasser, T., Lucia, S., Schulze Darup, M., &#38; Mönnigmann, M. (2021). Teaching MPC: Which Way to the Promised Land? <i>IFAC-PapersOnLine</i>, <i>54</i>(6), 238–243. <a href=\"https://doi.org/10.1016/j.ifacol.2021.08.551\">https://doi.org/10.1016/j.ifacol.2021.08.551</a>","short":"T. Faulwasser, S. Lucia, M. Schulze Darup, M. Mönnigmann, IFAC-PapersOnLine 54 (2021) 238–243.","chicago":"Faulwasser, Timm, Sergio Lucia, Moritz Schulze Darup, and Martin Mönnigmann. “Teaching MPC: Which Way to the Promised Land?” <i>IFAC-PapersOnLine</i> 54, no. 6 (2021): 238–43. <a href=\"https://doi.org/10.1016/j.ifacol.2021.08.551\">https://doi.org/10.1016/j.ifacol.2021.08.551</a>.","mla":"Faulwasser, Timm, et al. “Teaching MPC: Which Way to the Promised Land?” <i>IFAC-PapersOnLine</i>, vol. 54, no. 6, Elsevier BV, 2021, pp. 238–43, doi:<a href=\"https://doi.org/10.1016/j.ifacol.2021.08.551\">10.1016/j.ifacol.2021.08.551</a>.","bibtex":"@article{Faulwasser_Lucia_Schulze Darup_Mönnigmann_2021, title={Teaching MPC: Which Way to the Promised Land?}, volume={54}, DOI={<a href=\"https://doi.org/10.1016/j.ifacol.2021.08.551\">10.1016/j.ifacol.2021.08.551</a>}, number={6}, journal={IFAC-PapersOnLine}, publisher={Elsevier BV}, author={Faulwasser, Timm and Lucia, Sergio and Schulze Darup, Moritz and Mönnigmann, Martin}, year={2021}, pages={238–243} }","ama":"Faulwasser T, Lucia S, Schulze Darup M, Mönnigmann M. Teaching MPC: Which Way to the Promised Land? <i>IFAC-PapersOnLine</i>. 2021;54(6):238-243. doi:<a href=\"https://doi.org/10.1016/j.ifacol.2021.08.551\">10.1016/j.ifacol.2021.08.551</a>"},"doi":"10.1016/j.ifacol.2021.08.551","language":[{"iso":"eng"}],"intvolume":"        54","publication_status":"published","date_updated":"2023-01-09T16:43:08Z","publication_identifier":{"issn":["2405-8963"]},"author":[{"first_name":"Timm","last_name":"Faulwasser","full_name":"Faulwasser, Timm"},{"last_name":"Lucia","first_name":"Sergio","full_name":"Lucia, Sergio"},{"last_name":"Schulze Darup","first_name":"Moritz","full_name":"Schulze Darup, Moritz"},{"first_name":"Martin","last_name":"Mönnigmann","full_name":"Mönnigmann, Martin"}],"title":"Teaching MPC: Which Way to the Promised Land?","year":"2021","department":[{"_id":"622"}],"keyword":["Control and Systems Engineering"],"type":"journal_article","date_created":"2023-01-09T16:35:32Z","extern":"1","issue":"6","publication":"IFAC-PapersOnLine"},{"intvolume":"        53","publication_status":"published","date_updated":"2023-01-09T16:43:38Z","publication_identifier":{"issn":["2405-8963"]},"author":[{"last_name":"Darup","first_name":"Moritz Schulze","full_name":"Darup, Moritz Schulze"}],"title":"Encrypted MPC based on ADMM real-time iterations","year":"2021","doi":"10.1016/j.ifacol.2020.12.1708","language":[{"iso":"eng"}],"extern":"1","publication":"IFAC-PapersOnLine","issue":"2","department":[{"_id":"622"}],"type":"journal_article","keyword":["Control and Systems Engineering"],"date_created":"2023-01-09T16:18:22Z","status":"public","volume":53,"user_id":"158","_id":"35561","publisher":"Elsevier BV","page":"3508-3514","citation":{"mla":"Darup, Moritz Schulze. “Encrypted MPC Based on ADMM Real-Time Iterations.” <i>IFAC-PapersOnLine</i>, vol. 53, no. 2, Elsevier BV, 2021, pp. 3508–14, doi:<a href=\"https://doi.org/10.1016/j.ifacol.2020.12.1708\">10.1016/j.ifacol.2020.12.1708</a>.","ama":"Darup MS. Encrypted MPC based on ADMM real-time iterations. <i>IFAC-PapersOnLine</i>. 2021;53(2):3508-3514. doi:<a href=\"https://doi.org/10.1016/j.ifacol.2020.12.1708\">10.1016/j.ifacol.2020.12.1708</a>","bibtex":"@article{Darup_2021, title={Encrypted MPC based on ADMM real-time iterations}, volume={53}, DOI={<a href=\"https://doi.org/10.1016/j.ifacol.2020.12.1708\">10.1016/j.ifacol.2020.12.1708</a>}, number={2}, journal={IFAC-PapersOnLine}, publisher={Elsevier BV}, author={Darup, Moritz Schulze}, year={2021}, pages={3508–3514} }","apa":"Darup, M. S. (2021). Encrypted MPC based on ADMM real-time iterations. <i>IFAC-PapersOnLine</i>, <i>53</i>(2), 3508–3514. <a href=\"https://doi.org/10.1016/j.ifacol.2020.12.1708\">https://doi.org/10.1016/j.ifacol.2020.12.1708</a>","ieee":"M. S. Darup, “Encrypted MPC based on ADMM real-time iterations,” <i>IFAC-PapersOnLine</i>, vol. 53, no. 2, pp. 3508–3514, 2021, doi: <a href=\"https://doi.org/10.1016/j.ifacol.2020.12.1708\">10.1016/j.ifacol.2020.12.1708</a>.","chicago":"Darup, Moritz Schulze. “Encrypted MPC Based on ADMM Real-Time Iterations.” <i>IFAC-PapersOnLine</i> 53, no. 2 (2021): 3508–14. <a href=\"https://doi.org/10.1016/j.ifacol.2020.12.1708\">https://doi.org/10.1016/j.ifacol.2020.12.1708</a>.","short":"M.S. Darup, IFAC-PapersOnLine 53 (2021) 3508–3514."}},{"doi":"https://doi.org/10.1016/j.ifacol.2021.11.099","series_title":"IFAC-PapersOnLine","language":[{"iso":"eng"}],"main_file_link":[{"open_access":"1","url":"https://www.sciencedirect.com/science/article/pii/S2405896321021236"}],"date_updated":"2023-11-29T10:19:41Z","publication_status":"published","publication_identifier":{"issn":["2405-8963"]},"author":[{"last_name":"Offen","first_name":"Christian","orcid":"0000-0002-5940-8057","full_name":"Offen, Christian","id":"85279"},{"id":"16494","full_name":"Ober-Blöbaum, Sina","first_name":"Sina","last_name":"Ober-Blöbaum"}],"title":"Bifurcation preserving discretisations of optimal control problems","year":"2021","department":[{"_id":"636"}],"type":"conference","keyword":["optimal control","catastrophe theory","bifurcations","variational methods","symplectic integrators"],"date_created":"2021-07-29T09:38:32Z","file":[{"date_created":"2021-07-29T09:37:49Z","creator":"coffen","content_type":"application/pdf","file_id":"22895","date_updated":"2021-07-29T09:37:49Z","relation":"main_file","file_size":3125220,"access_level":"open_access","file_name":"ifacconf.pdf"}],"abstract":[{"lang":"eng","text":"The first order optimality conditions of optimal control problems (OCPs) can\r\nbe regarded as boundary value problems for Hamiltonian systems. Variational or\r\nsymplectic discretisation methods are classically known for their excellent\r\nlong term behaviour. As boundary value problems are posed on intervals of\r\nfixed, moderate length, it is not immediately clear whether methods can profit\r\nfrom structure preservation in this context. When parameters are present,\r\nsolutions can undergo bifurcations, for instance, two solutions can merge and\r\nannihilate one another as parameters are varied. We will show that generic\r\nbifurcations of an OCP are preserved under discretisation when the OCP is\r\neither directly discretised to a discrete OCP (direct method) or translated\r\ninto a Hamiltonian boundary value problem using first order necessary\r\nconditions of optimality which is then solved using a symplectic integrator\r\n(indirect method). Moreover, certain bifurcations break when a non-symplectic\r\nscheme is used. The general phenomenon is illustrated on the example of a cut\r\nlocus of an ellipsoid."}],"related_material":{"link":[{"description":"GitHub/Zenodo","relation":"software","url":"https://doi.org/10.5281/zenodo.4562664"}]},"volume":"54(19)","ddc":["510"],"user_id":"15694","_id":"22894","page":"334-339","has_accepted_license":"1","conference":{"end_date":"2021-10-13","location":"Berlin, Germany","start_date":"2021-10-11","name":"7th IFAC Workshop on Lagrangian and Hamiltonian Methods for Nonlinear Control, LHMNC 2021"},"status":"public","oa":"1","external_id":{"arxiv":["2107.13853"]},"quality_controlled":"1","citation":{"ama":"Offen C, Ober-Blöbaum S. Bifurcation preserving discretisations of optimal control problems. 2021;54(19):334-339. doi:<a href=\"https://doi.org/10.1016/j.ifacol.2021.11.099\">https://doi.org/10.1016/j.ifacol.2021.11.099</a>","bibtex":"@article{Offen_Ober-Blöbaum_2021, series={IFAC-PapersOnLine}, title={Bifurcation preserving discretisations of optimal control problems}, volume={54(19)}, DOI={<a href=\"https://doi.org/10.1016/j.ifacol.2021.11.099\">https://doi.org/10.1016/j.ifacol.2021.11.099</a>}, author={Offen, Christian and Ober-Blöbaum, Sina}, year={2021}, pages={334–339}, collection={IFAC-PapersOnLine} }","mla":"Offen, Christian, and Sina Ober-Blöbaum. <i>Bifurcation Preserving Discretisations of Optimal Control Problems</i>. 2021, pp. 334–39, doi:<a href=\"https://doi.org/10.1016/j.ifacol.2021.11.099\">https://doi.org/10.1016/j.ifacol.2021.11.099</a>.","chicago":"Offen, Christian, and Sina Ober-Blöbaum. “Bifurcation Preserving Discretisations of Optimal Control Problems.” IFAC-PapersOnLine, 2021. <a href=\"https://doi.org/10.1016/j.ifacol.2021.11.099\">https://doi.org/10.1016/j.ifacol.2021.11.099</a>.","short":"C. Offen, S. Ober-Blöbaum, 54(19) (2021) 334–339.","apa":"Offen, C., &#38; Ober-Blöbaum, S. (2021). <i>Bifurcation preserving discretisations of optimal control problems: Vol. 54(19)</i> (pp. 334–339). <a href=\"https://doi.org/10.1016/j.ifacol.2021.11.099\">https://doi.org/10.1016/j.ifacol.2021.11.099</a>","ieee":"C. Offen and S. Ober-Blöbaum, “Bifurcation preserving discretisations of optimal control problems,” vol. 54(19). pp. 334–339, 2021, doi: <a href=\"https://doi.org/10.1016/j.ifacol.2021.11.099\">https://doi.org/10.1016/j.ifacol.2021.11.099</a>."},"file_date_updated":"2021-07-29T09:37:49Z"},{"date_created":"2019-04-07T12:45:30Z","type":"conference","publication":"IFAC-PapersOnLine","citation":{"apa":"Schulze Darup, M., Redder, A., &#38; Quevedo, D. E. (2018). Encrypted cloud-based MPC for linear systems with input constraints. In <i>IFAC-PapersOnLine</i> (pp. 535–542). <a href=\"https://doi.org/10.1016/j.ifacol.2018.11.035\">https://doi.org/10.1016/j.ifacol.2018.11.035</a>","ieee":"M. Schulze Darup, A. Redder, and D. E. Quevedo, “Encrypted cloud-based MPC for linear systems with input constraints,” in <i>IFAC-PapersOnLine</i>, 2018, pp. 535–542.","short":"M. Schulze Darup, A. Redder, D.E. Quevedo, in: IFAC-PapersOnLine, 2018, pp. 535–542.","chicago":"Schulze Darup, Moritz, Adrian Redder, and Daniel E. Quevedo. “Encrypted Cloud-Based MPC for Linear Systems with Input Constraints.” In <i>IFAC-PapersOnLine</i>, 535–42, 2018. <a href=\"https://doi.org/10.1016/j.ifacol.2018.11.035\">https://doi.org/10.1016/j.ifacol.2018.11.035</a>.","mla":"Schulze Darup, Moritz, et al. “Encrypted Cloud-Based MPC for Linear Systems with Input Constraints.” <i>IFAC-PapersOnLine</i>, 2018, pp. 535–42, doi:<a href=\"https://doi.org/10.1016/j.ifacol.2018.11.035\">10.1016/j.ifacol.2018.11.035</a>.","ama":"Schulze Darup M, Redder A, Quevedo DE. Encrypted cloud-based MPC for linear systems with input constraints. In: <i>IFAC-PapersOnLine</i>. ; 2018:535-542. doi:<a href=\"https://doi.org/10.1016/j.ifacol.2018.11.035\">10.1016/j.ifacol.2018.11.035</a>","bibtex":"@inproceedings{Schulze Darup_Redder_Quevedo_2018, title={Encrypted cloud-based MPC for linear systems with input constraints}, DOI={<a href=\"https://doi.org/10.1016/j.ifacol.2018.11.035\">10.1016/j.ifacol.2018.11.035</a>}, booktitle={IFAC-PapersOnLine}, author={Schulze Darup, Moritz and Redder, Adrian and Quevedo, Daniel E.}, year={2018}, pages={535–542} }"},"page":"535-542","language":[{"iso":"eng"}],"_id":"8812","doi":"10.1016/j.ifacol.2018.11.035","user_id":"66679","status":"public","title":"Encrypted cloud-based MPC for linear systems with input constraints","year":"2018","author":[{"last_name":"Schulze Darup","first_name":"Moritz","orcid":"0000-0002-1868-4098","full_name":"Schulze Darup, Moritz","id":"66679"},{"last_name":"Redder","first_name":"Adrian","full_name":"Redder, Adrian"},{"full_name":"Quevedo, Daniel E.","last_name":"Quevedo","first_name":"Daniel E."}],"publication_identifier":{"issn":["2405-8963"]},"date_updated":"2022-01-06T07:04:02Z","publication_status":"published"},{"date_created":"2020-04-16T09:30:56Z","department":[{"_id":"101"}],"type":"journal_article","citation":{"ieee":"S. Peitz, K. Schäfer, S. Ober-Blöbaum, J. Eckstein, U. Köhler, and M. Dellnitz, “A Multiobjective MPC Approach for Autonomously Driven Electric Vehicles * *This research was funded by the German Federal Ministry of Education and Research (BMBF) within the Leading-Edge Cluster Intelligent Technical Systems OstWestfalenLippe (it’s OWL).,” <i>IFAC-PapersOnLine</i>, pp. 8674–8679, 2017.","apa":"Peitz, S., Schäfer, K., Ober-Blöbaum, S., Eckstein, J., Köhler, U., &#38; Dellnitz, M. (2017). A Multiobjective MPC Approach for Autonomously Driven Electric Vehicles * *This research was funded by the German Federal Ministry of Education and Research (BMBF) within the Leading-Edge Cluster Intelligent Technical Systems OstWestfalenLippe (it’s OWL). <i>IFAC-PapersOnLine</i>, 8674–8679. <a href=\"https://doi.org/10.1016/j.ifacol.2017.08.1526\">https://doi.org/10.1016/j.ifacol.2017.08.1526</a>","short":"S. Peitz, K. Schäfer, S. Ober-Blöbaum, J. Eckstein, U. Köhler, M. Dellnitz, IFAC-PapersOnLine (2017) 8674–8679.","chicago":"Peitz, Sebastian, Kai Schäfer, Sina Ober-Blöbaum, Julian Eckstein, Ulrich Köhler, and Michael Dellnitz. “A Multiobjective MPC Approach for Autonomously Driven Electric Vehicles * *This Research Was Funded by the German Federal Ministry of Education and Research (BMBF) within the Leading-Edge Cluster Intelligent Technical Systems OstWestfalenLippe (It’s OWL).” <i>IFAC-PapersOnLine</i>, 2017, 8674–79. <a href=\"https://doi.org/10.1016/j.ifacol.2017.08.1526\">https://doi.org/10.1016/j.ifacol.2017.08.1526</a>.","mla":"Peitz, Sebastian, et al. “A Multiobjective MPC Approach for Autonomously Driven Electric Vehicles * *This Research Was Funded by the German Federal Ministry of Education and Research (BMBF) within the Leading-Edge Cluster Intelligent Technical Systems OstWestfalenLippe (It’s OWL).” <i>IFAC-PapersOnLine</i>, 2017, pp. 8674–79, doi:<a href=\"https://doi.org/10.1016/j.ifacol.2017.08.1526\">10.1016/j.ifacol.2017.08.1526</a>.","bibtex":"@article{Peitz_Schäfer_Ober-Blöbaum_Eckstein_Köhler_Dellnitz_2017, title={A Multiobjective MPC Approach for Autonomously Driven Electric Vehicles * *This research was funded by the German Federal Ministry of Education and Research (BMBF) within the Leading-Edge Cluster Intelligent Technical Systems OstWestfalenLippe (it’s OWL).}, DOI={<a href=\"https://doi.org/10.1016/j.ifacol.2017.08.1526\">10.1016/j.ifacol.2017.08.1526</a>}, journal={IFAC-PapersOnLine}, author={Peitz, Sebastian and Schäfer, Kai and Ober-Blöbaum, Sina and Eckstein, Julian and Köhler, Ulrich and Dellnitz, Michael}, year={2017}, pages={8674–8679} }","ama":"Peitz S, Schäfer K, Ober-Blöbaum S, Eckstein J, Köhler U, Dellnitz M. A Multiobjective MPC Approach for Autonomously Driven Electric Vehicles * *This research was funded by the German Federal Ministry of Education and Research (BMBF) within the Leading-Edge Cluster Intelligent Technical Systems OstWestfalenLippe (it’s OWL). <i>IFAC-PapersOnLine</i>. 2017:8674-8679. doi:<a href=\"https://doi.org/10.1016/j.ifacol.2017.08.1526\">10.1016/j.ifacol.2017.08.1526</a>"},"publication":"IFAC-PapersOnLine","_id":"16657","language":[{"iso":"eng"}],"page":"8674-8679","doi":"10.1016/j.ifacol.2017.08.1526","user_id":"15701","publication_identifier":{"issn":["2405-8963"]},"author":[{"full_name":"Peitz, Sebastian","first_name":"Sebastian","last_name":"Peitz"},{"last_name":"Schäfer","first_name":"Kai","full_name":"Schäfer, Kai"},{"full_name":"Ober-Blöbaum, Sina","first_name":"Sina","last_name":"Ober-Blöbaum"},{"last_name":"Eckstein","first_name":"Julian","full_name":"Eckstein, Julian"},{"last_name":"Köhler","first_name":"Ulrich","full_name":"Köhler, Ulrich"},{"last_name":"Dellnitz","first_name":"Michael","full_name":"Dellnitz, Michael"}],"status":"public","year":"2017","title":"A Multiobjective MPC Approach for Autonomously Driven Electric Vehicles * *This research was funded by the German Federal Ministry of Education and Research (BMBF) within the Leading-Edge Cluster Intelligent Technical Systems OstWestfalenLippe (it’s OWL).","date_updated":"2022-01-06T06:52:53Z","publication_status":"published"},{"citation":{"ieee":"S. Peitz, K. Schäfer, S. Ober-Blöbaum, J. Eckstein, U. Köhler, and M. Dellnitz, “A multiobjective MPC approach for autonomously driven electric vehicles,” <i>Proceedings of the 20th World Congress of the International Federation of Automatic Control (IFAC)</i>, vol. 50, no. 1, pp. 8674–8679, 2017, doi: <a href=\"https://doi.org/10.1016/j.ifacol.2017.08.1526\">10.1016/j.ifacol.2017.08.1526</a>.","apa":"Peitz, S., Schäfer, K., Ober-Blöbaum, S., Eckstein, J., Köhler, U., &#38; Dellnitz, M. (2017). A multiobjective MPC approach for autonomously driven electric vehicles. <i>Proceedings of the 20th World Congress of the International Federation of Automatic Control (IFAC)</i>, <i>50</i>(1), 8674–8679. <a href=\"https://doi.org/10.1016/j.ifacol.2017.08.1526\">https://doi.org/10.1016/j.ifacol.2017.08.1526</a>","chicago":"Peitz, Sebastian, Kai Schäfer, Sina Ober-Blöbaum, Julian Eckstein, Ulrich Köhler, and Michael Dellnitz. “A Multiobjective MPC Approach for Autonomously Driven Electric Vehicles.” <i>Proceedings of the 20th World Congress of the International Federation of Automatic Control (IFAC)</i> 50, no. 1 (2017): 8674–79. <a href=\"https://doi.org/10.1016/j.ifacol.2017.08.1526\">https://doi.org/10.1016/j.ifacol.2017.08.1526</a>.","short":"S. Peitz, K. Schäfer, S. Ober-Blöbaum, J. Eckstein, U. Köhler, M. Dellnitz, Proceedings of the 20th World Congress of the International Federation of Automatic Control (IFAC) 50 (2017) 8674–8679.","mla":"Peitz, Sebastian, et al. “A Multiobjective MPC Approach for Autonomously Driven Electric Vehicles.” <i>Proceedings of the 20th World Congress of the International Federation of Automatic Control (IFAC)</i>, vol. 50, no. 1, 2017, pp. 8674–79, doi:<a href=\"https://doi.org/10.1016/j.ifacol.2017.08.1526\">10.1016/j.ifacol.2017.08.1526</a>.","bibtex":"@article{Peitz_Schäfer_Ober-Blöbaum_Eckstein_Köhler_Dellnitz_2017, title={A multiobjective MPC approach for autonomously driven electric vehicles}, volume={50}, DOI={<a href=\"https://doi.org/10.1016/j.ifacol.2017.08.1526\">10.1016/j.ifacol.2017.08.1526</a>}, number={1}, journal={Proceedings of the 20th World Congress of the International Federation of Automatic Control (IFAC)}, author={Peitz, Sebastian and Schäfer, Kai and Ober-Blöbaum, Sina and Eckstein, Julian and Köhler, Ulrich and Dellnitz, Michael}, year={2017}, pages={8674–8679} }","ama":"Peitz S, Schäfer K, Ober-Blöbaum S, Eckstein J, Köhler U, Dellnitz M. A multiobjective MPC approach for autonomously driven electric vehicles. <i>Proceedings of the 20th World Congress of the International Federation of Automatic Control (IFAC)</i>. 2017;50(1):8674-8679. doi:<a href=\"https://doi.org/10.1016/j.ifacol.2017.08.1526\">10.1016/j.ifacol.2017.08.1526</a>"},"user_id":"15694","volume":50,"page":"8674-8679","_id":"8756","status":"public","conference":{"end_date":"2017-07-14","start_date":"2017-07-09"},"type":"journal_article","department":[{"_id":"101"}],"date_created":"2019-03-29T13:32:46Z","abstract":[{"text":"We present a new algorithm for model predictive control of non-linear systems with respect to multiple, conflicting objectives. The idea is to provide a possibility to change the objective in real-time, e.g. as a reaction to changes in the environment or the system state itself. The algorithm utilises elements from various well-established concepts, namely multiobjective optimal control, economic as well as explicit model predictive control and motion planning with motion primitives. In order to realise real-time applicability, we split the computation into an online and an offline phase and we utilise symmetries in the open-loop optimal control problem to reduce the number of multiobjective optimal control problems that need to be solved in the offline phase. The results are illustrated using the example of an electric vehicle where the longitudinal dynamics are controlled with respect to the concurrent objectives arrival time and energy consumption.","lang":"eng"}],"issue":"1","publication":"Proceedings of the 20th World Congress of the International Federation of Automatic Control (IFAC)","doi":"10.1016/j.ifacol.2017.08.1526","language":[{"iso":"eng"}],"publication_status":"published","date_updated":"2022-01-21T13:58:41Z","article_type":"original","intvolume":"        50","title":"A multiobjective MPC approach for autonomously driven electric vehicles","year":"2017","author":[{"last_name":"Peitz","first_name":"Sebastian","orcid":"https://orcid.org/0000-0002-3389-793X","full_name":"Peitz, Sebastian","id":"47427"},{"full_name":"Schäfer, Kai","last_name":"Schäfer","first_name":"Kai"},{"first_name":"Sina","last_name":"Ober-Blöbaum","full_name":"Ober-Blöbaum, Sina","id":"16494"},{"full_name":"Eckstein, Julian","last_name":"Eckstein","first_name":"Julian"},{"full_name":"Köhler, Ulrich","last_name":"Köhler","first_name":"Ulrich"},{"full_name":"Dellnitz, Michael","last_name":"Dellnitz","first_name":"Michael"}],"publication_identifier":{"issn":["2405-8963"]}},{"year":"2017","status":"public","title":"Inverse Optimal Control Problem: the Sub-Riemannian Case ","author":[{"last_name":"Jean","first_name":"Frédéric","full_name":"Jean, Frédéric"},{"first_name":"Sofya","last_name":"Maslovskaya","full_name":"Maslovskaya, Sofya","id":"87909"},{"last_name":"Zelenko","first_name":"Igor","full_name":"Zelenko, Igor"}],"publication_identifier":{"issn":["2405-8963"]},"publication_status":"published","date_updated":"2022-01-26T13:10:43Z","page":"500-505","_id":"20809","language":[{"iso":"eng"}],"user_id":"87909","doi":"10.1016/j.ifacol.2017.08.105","publication":"IFAC-PapersOnLine","citation":{"mla":"Jean, Frédéric, et al. “Inverse Optimal Control Problem: The Sub-Riemannian Case .” <i>IFAC-PapersOnLine</i>, 2017, pp. 500–05, doi:<a href=\"https://doi.org/10.1016/j.ifacol.2017.08.105\">10.1016/j.ifacol.2017.08.105</a>.","bibtex":"@article{Jean_Maslovskaya_Zelenko_2017, title={Inverse Optimal Control Problem: the Sub-Riemannian Case }, DOI={<a href=\"https://doi.org/10.1016/j.ifacol.2017.08.105\">10.1016/j.ifacol.2017.08.105</a>}, journal={IFAC-PapersOnLine}, author={Jean, Frédéric and Maslovskaya, Sofya and Zelenko, Igor}, year={2017}, pages={500–505} }","ama":"Jean F, Maslovskaya S, Zelenko I. Inverse Optimal Control Problem: the Sub-Riemannian Case . <i>IFAC-PapersOnLine</i>. Published online 2017:500-505. doi:<a href=\"https://doi.org/10.1016/j.ifacol.2017.08.105\">10.1016/j.ifacol.2017.08.105</a>","ieee":"F. Jean, S. Maslovskaya, and I. Zelenko, “Inverse Optimal Control Problem: the Sub-Riemannian Case ,” <i>IFAC-PapersOnLine</i>, pp. 500–505, 2017, doi: <a href=\"https://doi.org/10.1016/j.ifacol.2017.08.105\">10.1016/j.ifacol.2017.08.105</a>.","apa":"Jean, F., Maslovskaya, S., &#38; Zelenko, I. (2017). Inverse Optimal Control Problem: the Sub-Riemannian Case . <i>IFAC-PapersOnLine</i>, 500–505. <a href=\"https://doi.org/10.1016/j.ifacol.2017.08.105\">https://doi.org/10.1016/j.ifacol.2017.08.105</a>","short":"F. Jean, S. Maslovskaya, I. Zelenko, IFAC-PapersOnLine (2017) 500–505.","chicago":"Jean, Frédéric, Sofya Maslovskaya, and Igor Zelenko. “Inverse Optimal Control Problem: The Sub-Riemannian Case .” <i>IFAC-PapersOnLine</i>, 2017, 500–505. <a href=\"https://doi.org/10.1016/j.ifacol.2017.08.105\">https://doi.org/10.1016/j.ifacol.2017.08.105</a>."},"date_created":"2020-12-21T12:57:22Z","type":"journal_article"}]