TY - JOUR AU - Junker, Annika AU - Pape, Keno Egon Friedrich AU - Timmermann, Julia AU - Trächtler, Ansgar ID - 50070 IS - 3 JF - IFAC-PapersOnLine KW - General Medicine SN - 2405-8963 TI - Adaptive Koopman-Based Models for Holistic Controller and Observer Design VL - 56 ER - TY - JOUR AU - Koppert, Steven AU - Henke, Christian AU - Trächtler, Ansgar AU - Möhringer, Stefan ID - 33982 IS - 2 JF - IFAC-PapersOnLine KW - Control and Systems Engineering SN - 2405-8963 TI - Tool Wear Monitoring of a Tree Log Bandsaw using a Deep Convolutional Neural Network on challenging data VL - 55 ER - TY - JOUR AU - Junker, Annika AU - Timmermann, Julia AU - Trächtler, Ansgar ID - 50071 IS - 12 JF - IFAC-PapersOnLine KW - Control and Systems Engineering SN - 2405-8963 TI - Learning Data-Driven PCHD Models for Control Engineering Applications* VL - 55 ER - TY - JOUR AB - 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. AU - Berger, Thomas AU - Lanza, Lukas Johannes ID - 23277 JF - IFAC-PapersOnLine SN - 2405-8963 TI - Output tracking for a non-minimum phase robotic manipulator ER - TY - JOUR AU - Schulze Darup, Moritz AU - Klädtke, Manuel AU - Mönnigmann, Martin ID - 35576 IS - 6 JF - IFAC-PapersOnLine KW - Control and Systems Engineering SN - 2405-8963 TI - Exact solution to a special class of nonlinear MPC problems VL - 54 ER - TY - JOUR AU - Faulwasser, Timm AU - Lucia, Sergio AU - Schulze Darup, Moritz AU - Mönnigmann, Martin ID - 35578 IS - 6 JF - IFAC-PapersOnLine KW - Control and Systems Engineering SN - 2405-8963 TI - Teaching MPC: Which Way to the Promised Land? VL - 54 ER - TY - JOUR AU - Darup, Moritz Schulze ID - 35561 IS - 2 JF - IFAC-PapersOnLine KW - Control and Systems Engineering SN - 2405-8963 TI - Encrypted MPC based on ADMM real-time iterations VL - 53 ER - TY - CONF AB - The first order optimality conditions of optimal control problems (OCPs) can be regarded as boundary value problems for Hamiltonian systems. Variational or symplectic discretisation methods are classically known for their excellent long term behaviour. As boundary value problems are posed on intervals of fixed, moderate length, it is not immediately clear whether methods can profit from structure preservation in this context. When parameters are present, solutions can undergo bifurcations, for instance, two solutions can merge and annihilate one another as parameters are varied. We will show that generic bifurcations of an OCP are preserved under discretisation when the OCP is either directly discretised to a discrete OCP (direct method) or translated into a Hamiltonian boundary value problem using first order necessary conditions of optimality which is then solved using a symplectic integrator (indirect method). Moreover, certain bifurcations break when a non-symplectic scheme is used. The general phenomenon is illustrated on the example of a cut locus of an ellipsoid. AU - Offen, Christian AU - Ober-Blöbaum, Sina ID - 22894 KW - optimal control KW - catastrophe theory KW - bifurcations KW - variational methods KW - symplectic integrators SN - 2405-8963 TI - Bifurcation preserving discretisations of optimal control problems VL - 54(19) ER - TY - CONF AU - Schulze Darup, Moritz AU - Redder, Adrian AU - Quevedo, Daniel E. ID - 8812 SN - 2405-8963 T2 - IFAC-PapersOnLine TI - Encrypted cloud-based MPC for linear systems with input constraints ER - TY - JOUR AU - Peitz, Sebastian AU - Schäfer, Kai AU - Ober-Blöbaum, Sina AU - Eckstein, Julian AU - Köhler, Ulrich AU - Dellnitz, Michael ID - 16657 JF - IFAC-PapersOnLine SN - 2405-8963 TI - 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). ER - TY - JOUR AB - 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. AU - Peitz, Sebastian AU - Schäfer, Kai AU - Ober-Blöbaum, Sina AU - Eckstein, Julian AU - Köhler, Ulrich AU - Dellnitz, Michael ID - 8756 IS - 1 JF - Proceedings of the 20th World Congress of the International Federation of Automatic Control (IFAC) SN - 2405-8963 TI - A multiobjective MPC approach for autonomously driven electric vehicles VL - 50 ER - TY - JOUR AU - Jean, Frédéric AU - Maslovskaya, Sofya AU - Zelenko, Igor ID - 20809 JF - IFAC-PapersOnLine SN - 2405-8963 TI - Inverse Optimal Control Problem: the Sub-Riemannian Case ER -