---
_id: '62021'
author:
- first_name: Lukas
  full_name: Kersting, Lukas
  last_name: Kersting
- first_name: Bahman
  full_name: Arian, Bahman
  id: '36287'
  last_name: Arian
- first_name: Julian
  full_name: Rozo Vasquez, Julian
  last_name: Rozo Vasquez
- first_name: Ansgar
  full_name: Trächtler, Ansgar
  id: '552'
  last_name: Trächtler
- first_name: Werner
  full_name: Homberg, Werner
  id: '233'
  last_name: Homberg
- first_name: Frank
  full_name: Walther, Frank
  last_name: Walther
citation:
  ama: Kersting L, Arian B, Rozo Vasquez J, Trächtler A, Homberg W, Walther F. State-space
    modelling approach for control and observer design in property-controlled reverse
    flow forming. <i>IFAC-PapersOnLine</i>. 2025;59(1):109-114. doi:<a href="https://doi.org/10.1016/j.ifacol.2025.03.020">10.1016/j.ifacol.2025.03.020</a>
  apa: Kersting, L., Arian, B., Rozo Vasquez, J., Trächtler, A., Homberg, W., &#38;
    Walther, F. (2025). State-space modelling approach for control and observer design
    in property-controlled reverse flow forming. <i>IFAC-PapersOnLine</i>, <i>59</i>(1),
    109–114. <a href="https://doi.org/10.1016/j.ifacol.2025.03.020">https://doi.org/10.1016/j.ifacol.2025.03.020</a>
  bibtex: '@article{Kersting_Arian_Rozo Vasquez_Trächtler_Homberg_Walther_2025, title={State-space
    modelling approach for control and observer design in property-controlled reverse
    flow forming}, volume={59}, DOI={<a href="https://doi.org/10.1016/j.ifacol.2025.03.020">10.1016/j.ifacol.2025.03.020</a>},
    number={1}, journal={IFAC-PapersOnLine}, publisher={Elsevier BV}, author={Kersting,
    Lukas and Arian, Bahman and Rozo Vasquez, Julian and Trächtler, Ansgar and Homberg,
    Werner and Walther, Frank}, year={2025}, pages={109–114} }'
  chicago: 'Kersting, Lukas, Bahman Arian, Julian Rozo Vasquez, Ansgar Trächtler,
    Werner Homberg, and Frank Walther. “State-Space Modelling Approach for Control
    and Observer Design in Property-Controlled Reverse Flow Forming.” <i>IFAC-PapersOnLine</i>
    59, no. 1 (2025): 109–14. <a href="https://doi.org/10.1016/j.ifacol.2025.03.020">https://doi.org/10.1016/j.ifacol.2025.03.020</a>.'
  ieee: 'L. Kersting, B. Arian, J. Rozo Vasquez, A. Trächtler, W. Homberg, and F.
    Walther, “State-space modelling approach for control and observer design in property-controlled
    reverse flow forming,” <i>IFAC-PapersOnLine</i>, vol. 59, no. 1, pp. 109–114,
    2025, doi: <a href="https://doi.org/10.1016/j.ifacol.2025.03.020">10.1016/j.ifacol.2025.03.020</a>.'
  mla: Kersting, Lukas, et al. “State-Space Modelling Approach for Control and Observer
    Design in Property-Controlled Reverse Flow Forming.” <i>IFAC-PapersOnLine</i>,
    vol. 59, no. 1, Elsevier BV, 2025, pp. 109–14, doi:<a href="https://doi.org/10.1016/j.ifacol.2025.03.020">10.1016/j.ifacol.2025.03.020</a>.
  short: L. Kersting, B. Arian, J. Rozo Vasquez, A. Trächtler, W. Homberg, F. Walther,
    IFAC-PapersOnLine 59 (2025) 109–114.
date_created: 2025-10-30T12:14:01Z
date_updated: 2025-10-30T12:53:16Z
department:
- _id: '153'
- _id: '241'
- _id: '156'
doi: 10.1016/j.ifacol.2025.03.020
intvolume: '        59'
issue: '1'
language:
- iso: eng
main_file_link:
- open_access: '1'
  url: 'https://doi.org/10.1016/j.ifacol.2025.03.020 '
oa: '1'
page: 109-114
publication: IFAC-PapersOnLine
publication_identifier:
  issn:
  - 2405-8963
publication_status: published
publisher: Elsevier BV
status: public
title: State-space modelling approach for control and observer design in property-controlled
  reverse flow forming
type: journal_article
user_id: '82875'
volume: 59
year: '2025'
...
---
_id: '63475'
author:
- first_name: Dario
  full_name: Dennstädt, Dario
  id: '98033'
  last_name: Dennstädt
citation:
  ama: Dennstädt D. A low-complexity funnel control approach for non-linear systems
    of higher-order. <i>IFAC-PapersOnLine</i>. 2025;59(14):7-12. doi:<a href="https://doi.org/10.1016/j.ifacol.2025.12.117">10.1016/j.ifacol.2025.12.117</a>
  apa: Dennstädt, D. (2025). A low-complexity funnel control approach for non-linear
    systems of higher-order. <i>IFAC-PapersOnLine</i>, <i>59</i>(14), 7–12. <a href="https://doi.org/10.1016/j.ifacol.2025.12.117">https://doi.org/10.1016/j.ifacol.2025.12.117</a>
  bibtex: '@article{Dennstädt_2025, title={A low-complexity funnel control approach
    for non-linear systems of higher-order}, volume={59}, DOI={<a href="https://doi.org/10.1016/j.ifacol.2025.12.117">10.1016/j.ifacol.2025.12.117</a>},
    number={14}, journal={IFAC-PapersOnLine}, publisher={Elsevier BV}, author={Dennstädt,
    Dario}, year={2025}, pages={7–12} }'
  chicago: 'Dennstädt, Dario. “A Low-Complexity Funnel Control Approach for Non-Linear
    Systems of Higher-Order.” <i>IFAC-PapersOnLine</i> 59, no. 14 (2025): 7–12. <a
    href="https://doi.org/10.1016/j.ifacol.2025.12.117">https://doi.org/10.1016/j.ifacol.2025.12.117</a>.'
  ieee: 'D. Dennstädt, “A low-complexity funnel control approach for non-linear systems
    of higher-order,” <i>IFAC-PapersOnLine</i>, vol. 59, no. 14, pp. 7–12, 2025, doi:
    <a href="https://doi.org/10.1016/j.ifacol.2025.12.117">10.1016/j.ifacol.2025.12.117</a>.'
  mla: Dennstädt, Dario. “A Low-Complexity Funnel Control Approach for Non-Linear
    Systems of Higher-Order.” <i>IFAC-PapersOnLine</i>, vol. 59, no. 14, Elsevier
    BV, 2025, pp. 7–12, doi:<a href="https://doi.org/10.1016/j.ifacol.2025.12.117">10.1016/j.ifacol.2025.12.117</a>.
  short: D. Dennstädt, IFAC-PapersOnLine 59 (2025) 7–12.
date_created: 2026-01-05T20:51:09Z
date_updated: 2026-01-05T20:58:55Z
doi: 10.1016/j.ifacol.2025.12.117
intvolume: '        59'
issue: '14'
language:
- iso: eng
page: 7-12
publication: IFAC-PapersOnLine
publication_identifier:
  issn:
  - 2405-8963
publication_status: published
publisher: Elsevier BV
status: public
title: A low-complexity funnel control approach for non-linear systems of higher-order
type: journal_article
user_id: '98033'
volume: 59
year: '2025'
...
---
_id: '59791'
author:
- first_name: Sofya
  full_name: Maslovskaya, Sofya
  id: '87909'
  last_name: Maslovskaya
- first_name: Sina
  full_name: Ober-Blöbaum, Sina
  id: '16494'
  last_name: Ober-Blöbaum
citation:
  ama: 'Maslovskaya S, Ober-Blöbaum S. Symplectic Methods in Deep Learning. In: <i>IFAC-PapersOnLine</i>.
    Vol 58. Elsevier BV; 2024:85-90. doi:<a href="https://doi.org/10.1016/j.ifacol.2024.10.118">10.1016/j.ifacol.2024.10.118</a>'
  apa: Maslovskaya, S., &#38; Ober-Blöbaum, S. (2024). Symplectic Methods in Deep
    Learning. <i>IFAC-PapersOnLine</i>, <i>58</i>(17), 85–90. <a href="https://doi.org/10.1016/j.ifacol.2024.10.118">https://doi.org/10.1016/j.ifacol.2024.10.118</a>
  bibtex: '@inproceedings{Maslovskaya_Ober-Blöbaum_2024, title={Symplectic Methods
    in Deep Learning}, volume={58}, DOI={<a href="https://doi.org/10.1016/j.ifacol.2024.10.118">10.1016/j.ifacol.2024.10.118</a>},
    number={17}, booktitle={IFAC-PapersOnLine}, publisher={Elsevier BV}, author={Maslovskaya,
    Sofya and Ober-Blöbaum, Sina}, year={2024}, pages={85–90} }'
  chicago: Maslovskaya, Sofya, and Sina Ober-Blöbaum. “Symplectic Methods in Deep
    Learning.” In <i>IFAC-PapersOnLine</i>, 58:85–90. Elsevier BV, 2024. <a href="https://doi.org/10.1016/j.ifacol.2024.10.118">https://doi.org/10.1016/j.ifacol.2024.10.118</a>.
  ieee: 'S. Maslovskaya and S. Ober-Blöbaum, “Symplectic Methods in Deep Learning,”
    in <i>IFAC-PapersOnLine</i>, 2024, vol. 58, no. 17, pp. 85–90, doi: <a href="https://doi.org/10.1016/j.ifacol.2024.10.118">10.1016/j.ifacol.2024.10.118</a>.'
  mla: Maslovskaya, Sofya, and Sina Ober-Blöbaum. “Symplectic Methods in Deep Learning.”
    <i>IFAC-PapersOnLine</i>, vol. 58, no. 17, Elsevier BV, 2024, pp. 85–90, doi:<a
    href="https://doi.org/10.1016/j.ifacol.2024.10.118">10.1016/j.ifacol.2024.10.118</a>.
  short: 'S. Maslovskaya, S. Ober-Blöbaum, in: IFAC-PapersOnLine, Elsevier BV, 2024,
    pp. 85–90.'
date_created: 2025-05-05T09:21:13Z
date_updated: 2025-05-05T09:22:27Z
department:
- _id: '636'
doi: 10.1016/j.ifacol.2024.10.118
intvolume: '        58'
issue: '17'
language:
- iso: eng
page: 85-90
publication: IFAC-PapersOnLine
publication_identifier:
  issn:
  - 2405-8963
publication_status: published
publisher: Elsevier BV
status: public
title: Symplectic Methods in Deep Learning
type: conference
user_id: '87909'
volume: 58
year: '2024'
...
---
_id: '50070'
author:
- first_name: Annika
  full_name: Junker, Annika
  id: '41470'
  last_name: Junker
  orcid: 0009-0002-6475-2503
- first_name: Keno Egon Friedrich
  full_name: Pape, Keno Egon Friedrich
  id: '52024'
  last_name: Pape
- first_name: Julia
  full_name: Timmermann, Julia
  id: '15402'
  last_name: Timmermann
- first_name: Ansgar
  full_name: Trächtler, Ansgar
  id: '552'
  last_name: Trächtler
citation:
  ama: Junker A, Pape KEF, Timmermann J, Trächtler A. Adaptive Koopman-Based Models
    for Holistic Controller and Observer Design. <i>IFAC-PapersOnLine</i>. 2023;56(3):625-630.
    doi:<a href="https://doi.org/10.1016/j.ifacol.2023.12.094">10.1016/j.ifacol.2023.12.094</a>
  apa: Junker, A., Pape, K. E. F., Timmermann, J., &#38; Trächtler, A. (2023). Adaptive
    Koopman-Based Models for Holistic Controller and Observer Design. <i>IFAC-PapersOnLine</i>,
    <i>56</i>(3), 625–630. <a href="https://doi.org/10.1016/j.ifacol.2023.12.094">https://doi.org/10.1016/j.ifacol.2023.12.094</a>
  bibtex: '@article{Junker_Pape_Timmermann_Trächtler_2023, title={Adaptive Koopman-Based
    Models for Holistic Controller and Observer Design}, volume={56}, DOI={<a href="https://doi.org/10.1016/j.ifacol.2023.12.094">10.1016/j.ifacol.2023.12.094</a>},
    number={3}, journal={IFAC-PapersOnLine}, publisher={Elsevier BV}, author={Junker,
    Annika and Pape, Keno Egon Friedrich and Timmermann, Julia and Trächtler, Ansgar},
    year={2023}, pages={625–630} }'
  chicago: 'Junker, Annika, Keno Egon Friedrich Pape, Julia Timmermann, and Ansgar
    Trächtler. “Adaptive Koopman-Based Models for Holistic Controller and Observer
    Design.” <i>IFAC-PapersOnLine</i> 56, no. 3 (2023): 625–30. <a href="https://doi.org/10.1016/j.ifacol.2023.12.094">https://doi.org/10.1016/j.ifacol.2023.12.094</a>.'
  ieee: 'A. Junker, K. E. F. Pape, J. Timmermann, and A. Trächtler, “Adaptive Koopman-Based
    Models for Holistic Controller and Observer Design,” <i>IFAC-PapersOnLine</i>,
    vol. 56, no. 3, pp. 625–630, 2023, doi: <a href="https://doi.org/10.1016/j.ifacol.2023.12.094">10.1016/j.ifacol.2023.12.094</a>.'
  mla: Junker, Annika, et al. “Adaptive Koopman-Based Models for Holistic Controller
    and Observer Design.” <i>IFAC-PapersOnLine</i>, vol. 56, no. 3, Elsevier BV, 2023,
    pp. 625–30, doi:<a href="https://doi.org/10.1016/j.ifacol.2023.12.094">10.1016/j.ifacol.2023.12.094</a>.
  short: A. Junker, K.E.F. Pape, J. Timmermann, A. Trächtler, IFAC-PapersOnLine 56
    (2023) 625–630.
date_created: 2023-12-25T11:55:19Z
date_updated: 2024-11-13T12:28:18Z
department:
- _id: '153'
- _id: '880'
doi: 10.1016/j.ifacol.2023.12.094
intvolume: '        56'
issue: '3'
keyword:
- General Medicine
language:
- iso: eng
main_file_link:
- open_access: '1'
  url: https://doi.org/10.1016/j.ifacol.2023.12.094
oa: '1'
page: 625-630
project:
- _id: '690'
  name: 'DART: Datengetriebene Methoden in der Regelungstechnik'
publication: IFAC-PapersOnLine
publication_identifier:
  issn:
  - 2405-8963
publication_status: published
publisher: Elsevier BV
quality_controlled: '1'
status: public
title: Adaptive Koopman-Based Models for Holistic Controller and Observer Design
type: journal_article
user_id: '41470'
volume: 56
year: '2023'
...
---
_id: '33982'
author:
- first_name: Steven
  full_name: Koppert, Steven
  last_name: Koppert
- first_name: Christian
  full_name: Henke, Christian
  last_name: Henke
- first_name: Ansgar
  full_name: Trächtler, Ansgar
  id: '552'
  last_name: Trächtler
- first_name: Stefan
  full_name: Möhringer, Stefan
  last_name: Möhringer
citation:
  ama: Koppert S, Henke C, Trächtler A, Möhringer S. Tool Wear Monitoring of a Tree
    Log Bandsaw using a Deep Convolutional Neural Network on challenging data. <i>IFAC-PapersOnLine</i>.
    2022;55(2):554-560. doi:<a href="https://doi.org/10.1016/j.ifacol.2022.04.252">10.1016/j.ifacol.2022.04.252</a>
  apa: Koppert, S., Henke, C., Trächtler, A., &#38; Möhringer, S. (2022). Tool Wear
    Monitoring of a Tree Log Bandsaw using a Deep Convolutional Neural Network on
    challenging data. <i>IFAC-PapersOnLine</i>, <i>55</i>(2), 554–560. <a href="https://doi.org/10.1016/j.ifacol.2022.04.252">https://doi.org/10.1016/j.ifacol.2022.04.252</a>
  bibtex: '@article{Koppert_Henke_Trächtler_Möhringer_2022, title={Tool Wear Monitoring
    of a Tree Log Bandsaw using a Deep Convolutional Neural Network on challenging
    data}, volume={55}, DOI={<a href="https://doi.org/10.1016/j.ifacol.2022.04.252">10.1016/j.ifacol.2022.04.252</a>},
    number={2}, journal={IFAC-PapersOnLine}, publisher={Elsevier BV}, author={Koppert,
    Steven and Henke, Christian and Trächtler, Ansgar and Möhringer, Stefan}, year={2022},
    pages={554–560} }'
  chicago: 'Koppert, Steven, Christian Henke, Ansgar Trächtler, and Stefan Möhringer.
    “Tool Wear Monitoring of a Tree Log Bandsaw Using a Deep Convolutional Neural
    Network on Challenging Data.” <i>IFAC-PapersOnLine</i> 55, no. 2 (2022): 554–60.
    <a href="https://doi.org/10.1016/j.ifacol.2022.04.252">https://doi.org/10.1016/j.ifacol.2022.04.252</a>.'
  ieee: 'S. Koppert, C. Henke, A. Trächtler, and S. Möhringer, “Tool Wear Monitoring
    of a Tree Log Bandsaw using a Deep Convolutional Neural Network on challenging
    data,” <i>IFAC-PapersOnLine</i>, vol. 55, no. 2, pp. 554–560, 2022, doi: <a href="https://doi.org/10.1016/j.ifacol.2022.04.252">10.1016/j.ifacol.2022.04.252</a>.'
  mla: Koppert, Steven, et al. “Tool Wear Monitoring of a Tree Log Bandsaw Using a
    Deep Convolutional Neural Network on Challenging Data.” <i>IFAC-PapersOnLine</i>,
    vol. 55, no. 2, Elsevier BV, 2022, pp. 554–60, doi:<a href="https://doi.org/10.1016/j.ifacol.2022.04.252">10.1016/j.ifacol.2022.04.252</a>.
  short: S. Koppert, C. Henke, A. Trächtler, S. Möhringer, IFAC-PapersOnLine 55 (2022)
    554–560.
date_created: 2022-11-02T17:19:30Z
date_updated: 2023-04-27T12:04:32Z
department:
- _id: '153'
- _id: '241'
doi: 10.1016/j.ifacol.2022.04.252
intvolume: '        55'
issue: '2'
keyword:
- Control and Systems Engineering
language:
- iso: eng
page: 554-560
publication: IFAC-PapersOnLine
publication_identifier:
  issn:
  - 2405-8963
publication_status: published
publisher: Elsevier BV
quality_controlled: '1'
status: public
title: Tool Wear Monitoring of a Tree Log Bandsaw using a Deep Convolutional Neural
  Network on challenging data
type: journal_article
user_id: '552'
volume: 55
year: '2022'
...
---
_id: '50071'
author:
- first_name: Annika
  full_name: Junker, Annika
  id: '41470'
  last_name: Junker
  orcid: 0009-0002-6475-2503
- first_name: Julia
  full_name: Timmermann, Julia
  id: '15402'
  last_name: Timmermann
- first_name: Ansgar
  full_name: Trächtler, Ansgar
  id: '552'
  last_name: Trächtler
citation:
  ama: Junker A, Timmermann J, Trächtler A. Learning Data-Driven PCHD Models for Control
    Engineering Applications*. <i>IFAC-PapersOnLine</i>. 2022;55(12):389-394. doi:<a
    href="https://doi.org/10.1016/j.ifacol.2022.07.343">10.1016/j.ifacol.2022.07.343</a>
  apa: Junker, A., Timmermann, J., &#38; Trächtler, A. (2022). Learning Data-Driven
    PCHD Models for Control Engineering Applications*. <i>IFAC-PapersOnLine</i>, <i>55</i>(12),
    389–394. <a href="https://doi.org/10.1016/j.ifacol.2022.07.343">https://doi.org/10.1016/j.ifacol.2022.07.343</a>
  bibtex: '@article{Junker_Timmermann_Trächtler_2022, title={Learning Data-Driven
    PCHD Models for Control Engineering Applications*}, volume={55}, DOI={<a href="https://doi.org/10.1016/j.ifacol.2022.07.343">10.1016/j.ifacol.2022.07.343</a>},
    number={12}, journal={IFAC-PapersOnLine}, publisher={Elsevier BV}, author={Junker,
    Annika and Timmermann, Julia and Trächtler, Ansgar}, year={2022}, pages={389–394}
    }'
  chicago: 'Junker, Annika, Julia Timmermann, and Ansgar Trächtler. “Learning Data-Driven
    PCHD Models for Control Engineering Applications*.” <i>IFAC-PapersOnLine</i> 55,
    no. 12 (2022): 389–94. <a href="https://doi.org/10.1016/j.ifacol.2022.07.343">https://doi.org/10.1016/j.ifacol.2022.07.343</a>.'
  ieee: 'A. Junker, J. Timmermann, and A. Trächtler, “Learning Data-Driven PCHD Models
    for Control Engineering Applications*,” <i>IFAC-PapersOnLine</i>, vol. 55, no.
    12, pp. 389–394, 2022, doi: <a href="https://doi.org/10.1016/j.ifacol.2022.07.343">10.1016/j.ifacol.2022.07.343</a>.'
  mla: Junker, Annika, et al. “Learning Data-Driven PCHD Models for Control Engineering
    Applications*.” <i>IFAC-PapersOnLine</i>, vol. 55, no. 12, Elsevier BV, 2022,
    pp. 389–94, doi:<a href="https://doi.org/10.1016/j.ifacol.2022.07.343">10.1016/j.ifacol.2022.07.343</a>.
  short: A. Junker, J. Timmermann, A. Trächtler, IFAC-PapersOnLine 55 (2022) 389–394.
date_created: 2023-12-25T11:59:49Z
date_updated: 2026-04-01T06:15:18Z
department:
- _id: '153'
- _id: '880'
doi: 10.1016/j.ifacol.2022.07.343
intvolume: '        55'
issue: '12'
keyword:
- Control and Systems Engineering
language:
- iso: eng
main_file_link:
- open_access: '1'
  url: https://doi.org/10.1016/j.ifacol.2022.07.343
oa: '1'
page: 389-394
project:
- _id: '690'
  name: 'DART: Datengetriebene Methoden in der Regelungstechnik'
publication: IFAC-PapersOnLine
publication_identifier:
  issn:
  - 2405-8963
publication_status: published
publisher: Elsevier BV
quality_controlled: '1'
status: public
title: Learning Data-Driven PCHD Models for Control Engineering Applications*
type: journal_article
user_id: '41470'
volume: 55
year: '2022'
...
---
_id: '23277'
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.
author:
- first_name: Thomas
  full_name: Berger, Thomas
  last_name: Berger
- first_name: Lukas Johannes
  full_name: Lanza, Lukas Johannes
  id: '78640'
  last_name: Lanza
citation:
  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>
  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>
  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} }'
  chicago: Berger, Thomas, and Lukas Johannes Lanza. “Output Tracking for a Non-Minimum
    Phase Robotic Manipulator.” <i>IFAC-PapersOnLine</i>, 2021, 178–85. <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.
  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>.
  short: T. Berger, L.J. Lanza, IFAC-PapersOnLine (2021) 178–185.
date_created: 2021-08-09T09:13:11Z
date_updated: 2022-01-06T06:55:48Z
doi: 10.1016/j.ifacol.2021.06.074
language:
- iso: eng
main_file_link:
- url: https://www.sciencedirect.com/science/article/pii/S2405896321005309
page: 178-185
publication: IFAC-PapersOnLine
publication_identifier:
  issn:
  - 2405-8963
publication_status: published
status: public
title: Output tracking for a non-minimum phase robotic manipulator
type: journal_article
user_id: '78640'
year: '2021'
...
---
_id: '35576'
author:
- first_name: Moritz
  full_name: Schulze Darup, Moritz
  last_name: Schulze Darup
- first_name: Manuel
  full_name: Klädtke, Manuel
  last_name: Klädtke
- first_name: Martin
  full_name: Mönnigmann, Martin
  last_name: Mönnigmann
citation:
  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>
  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>
  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}
    }'
  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>.'
  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>.'
  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>.
  short: M. Schulze Darup, M. Klädtke, M. Mönnigmann, IFAC-PapersOnLine 54 (2021)
    290–295.
date_created: 2023-01-09T16:34:42Z
date_updated: 2023-01-09T16:43:16Z
department:
- _id: '622'
doi: 10.1016/j.ifacol.2021.08.559
extern: '1'
intvolume: '        54'
issue: '6'
keyword:
- Control and Systems Engineering
language:
- iso: eng
page: 290-295
publication: IFAC-PapersOnLine
publication_identifier:
  issn:
  - 2405-8963
publication_status: published
publisher: Elsevier BV
status: public
title: Exact solution to a special class of nonlinear MPC problems
type: journal_article
user_id: '158'
volume: 54
year: '2021'
...
---
_id: '35578'
author:
- first_name: Timm
  full_name: Faulwasser, Timm
  last_name: Faulwasser
- first_name: Sergio
  full_name: Lucia, Sergio
  last_name: Lucia
- first_name: Moritz
  full_name: Schulze Darup, Moritz
  last_name: Schulze Darup
- first_name: Martin
  full_name: Mönnigmann, Martin
  last_name: Mönnigmann
citation:
  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>'
  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>'
  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} }'
  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>.'
  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>.'
  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>.'
  short: T. Faulwasser, S. Lucia, M. Schulze Darup, M. Mönnigmann, IFAC-PapersOnLine
    54 (2021) 238–243.
date_created: 2023-01-09T16:35:32Z
date_updated: 2023-01-09T16:43:08Z
department:
- _id: '622'
doi: 10.1016/j.ifacol.2021.08.551
extern: '1'
intvolume: '        54'
issue: '6'
keyword:
- Control and Systems Engineering
language:
- iso: eng
page: 238-243
publication: IFAC-PapersOnLine
publication_identifier:
  issn:
  - 2405-8963
publication_status: published
publisher: Elsevier BV
status: public
title: 'Teaching MPC: Which Way to the Promised Land?'
type: journal_article
user_id: '158'
volume: 54
year: '2021'
...
---
_id: '35561'
author:
- first_name: Moritz Schulze
  full_name: Darup, Moritz Schulze
  last_name: Darup
citation:
  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>
  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>
  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} }'
  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>.'
  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>.'
  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>.
  short: M.S. Darup, IFAC-PapersOnLine 53 (2021) 3508–3514.
date_created: 2023-01-09T16:18:22Z
date_updated: 2023-01-09T16:43:38Z
department:
- _id: '622'
doi: 10.1016/j.ifacol.2020.12.1708
extern: '1'
intvolume: '        53'
issue: '2'
keyword:
- Control and Systems Engineering
language:
- iso: eng
page: 3508-3514
publication: IFAC-PapersOnLine
publication_identifier:
  issn:
  - 2405-8963
publication_status: published
publisher: Elsevier BV
status: public
title: Encrypted MPC based on ADMM real-time iterations
type: journal_article
user_id: '158'
volume: 53
year: '2021'
...
---
_id: '22894'
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."
author:
- first_name: Christian
  full_name: Offen, Christian
  id: '85279'
  last_name: Offen
  orcid: 0000-0002-5940-8057
- first_name: Sina
  full_name: Ober-Blöbaum, Sina
  id: '16494'
  last_name: Ober-Blöbaum
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>
  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>'
  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} }'
  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>.
  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>.'
  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>.
  short: C. Offen, S. Ober-Blöbaum, 54(19) (2021) 334–339.
conference:
  end_date: 2021-10-13
  location: Berlin, Germany
  name: 7th IFAC Workshop on Lagrangian and Hamiltonian Methods for Nonlinear Control,
    LHMNC 2021
  start_date: 2021-10-11
date_created: 2021-07-29T09:38:32Z
date_updated: 2023-11-29T10:19:41Z
ddc:
- '510'
department:
- _id: '636'
doi: https://doi.org/10.1016/j.ifacol.2021.11.099
external_id:
  arxiv:
  - '2107.13853'
file:
- access_level: open_access
  content_type: application/pdf
  creator: coffen
  date_created: 2021-07-29T09:37:49Z
  date_updated: 2021-07-29T09:37:49Z
  file_id: '22895'
  file_name: ifacconf.pdf
  file_size: 3125220
  relation: main_file
file_date_updated: 2021-07-29T09:37:49Z
has_accepted_license: '1'
keyword:
- optimal control
- catastrophe theory
- bifurcations
- variational methods
- symplectic integrators
language:
- iso: eng
main_file_link:
- open_access: '1'
  url: https://www.sciencedirect.com/science/article/pii/S2405896321021236
oa: '1'
page: 334-339
publication_identifier:
  issn:
  - 2405-8963
publication_status: published
quality_controlled: '1'
related_material:
  link:
  - description: GitHub/Zenodo
    relation: software
    url: https://doi.org/10.5281/zenodo.4562664
series_title: IFAC-PapersOnLine
status: public
title: Bifurcation preserving discretisations of optimal control problems
type: conference
user_id: '15694'
volume: 54(19)
year: '2021'
...
---
_id: '8812'
author:
- first_name: Moritz
  full_name: Schulze Darup, Moritz
  id: '66679'
  last_name: Schulze Darup
  orcid: 0000-0002-1868-4098
- first_name: Adrian
  full_name: Redder, Adrian
  last_name: Redder
- first_name: Daniel E.
  full_name: Quevedo, Daniel E.
  last_name: Quevedo
citation:
  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>'
  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>
  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} }'
  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>.
  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.
  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>.
  short: 'M. Schulze Darup, A. Redder, D.E. Quevedo, in: IFAC-PapersOnLine, 2018,
    pp. 535–542.'
date_created: 2019-04-07T12:45:30Z
date_updated: 2022-01-06T07:04:02Z
doi: 10.1016/j.ifacol.2018.11.035
language:
- iso: eng
page: 535-542
publication: IFAC-PapersOnLine
publication_identifier:
  issn:
  - 2405-8963
publication_status: published
status: public
title: Encrypted cloud-based MPC for linear systems with input constraints
type: conference
user_id: '66679'
year: '2018'
...
---
_id: '16657'
author:
- first_name: Sebastian
  full_name: Peitz, Sebastian
  last_name: Peitz
- first_name: Kai
  full_name: Schäfer, Kai
  last_name: Schäfer
- first_name: Sina
  full_name: Ober-Blöbaum, Sina
  last_name: Ober-Blöbaum
- first_name: Julian
  full_name: Eckstein, Julian
  last_name: Eckstein
- first_name: Ulrich
  full_name: Köhler, Ulrich
  last_name: Köhler
- first_name: Michael
  full_name: Dellnitz, Michael
  last_name: Dellnitz
citation:
  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>
  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>
  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} }'
  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>.
  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.
  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>.
  short: S. Peitz, K. Schäfer, S. Ober-Blöbaum, J. Eckstein, U. Köhler, M. Dellnitz,
    IFAC-PapersOnLine (2017) 8674–8679.
date_created: 2020-04-16T09:30:56Z
date_updated: 2022-01-06T06:52:53Z
department:
- _id: '101'
doi: 10.1016/j.ifacol.2017.08.1526
language:
- iso: eng
page: 8674-8679
publication: IFAC-PapersOnLine
publication_identifier:
  issn:
  - 2405-8963
publication_status: published
status: public
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).
type: journal_article
user_id: '15701'
year: '2017'
...
---
_id: '8756'
abstract:
- lang: eng
  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.
article_type: original
author:
- first_name: Sebastian
  full_name: Peitz, Sebastian
  id: '47427'
  last_name: Peitz
  orcid: https://orcid.org/0000-0002-3389-793X
- first_name: Kai
  full_name: Schäfer, Kai
  last_name: Schäfer
- first_name: Sina
  full_name: Ober-Blöbaum, Sina
  id: '16494'
  last_name: Ober-Blöbaum
- first_name: Julian
  full_name: Eckstein, Julian
  last_name: Eckstein
- first_name: Ulrich
  full_name: Köhler, Ulrich
  last_name: Köhler
- first_name: Michael
  full_name: Dellnitz, Michael
  last_name: Dellnitz
citation:
  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>
  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>
  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} }'
  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>.'
  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>.'
  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>.
  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.
conference:
  end_date: 2017-07-14
  start_date: 2017-07-09
date_created: 2019-03-29T13:32:46Z
date_updated: 2022-01-21T13:58:41Z
department:
- _id: '101'
doi: 10.1016/j.ifacol.2017.08.1526
intvolume: '        50'
issue: '1'
language:
- iso: eng
page: 8674-8679
publication: Proceedings of the 20th World Congress of the International Federation
  of Automatic Control (IFAC)
publication_identifier:
  issn:
  - 2405-8963
publication_status: published
status: public
title: A multiobjective MPC approach for autonomously driven electric vehicles
type: journal_article
user_id: '15694'
volume: 50
year: '2017'
...
---
_id: '20809'
author:
- first_name: Frédéric
  full_name: Jean, Frédéric
  last_name: Jean
- first_name: Sofya
  full_name: Maslovskaya, Sofya
  id: '87909'
  last_name: Maslovskaya
- first_name: Igor
  full_name: Zelenko, Igor
  last_name: Zelenko
citation:
  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>'
  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>'
  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} }'
  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>.'
  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>.'
  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>.'
  short: F. Jean, S. Maslovskaya, I. Zelenko, IFAC-PapersOnLine (2017) 500–505.
date_created: 2020-12-21T12:57:22Z
date_updated: 2022-01-26T13:10:43Z
doi: 10.1016/j.ifacol.2017.08.105
language:
- iso: eng
page: 500-505
publication: IFAC-PapersOnLine
publication_identifier:
  issn:
  - 2405-8963
publication_status: published
status: public
title: 'Inverse Optimal Control Problem: the Sub-Riemannian Case '
type: journal_article
user_id: '87909'
year: '2017'
...