Výsledky vyhledávání - "Berkel, Felix"

Report

Stability Mechanisms for Predictive Safety Filters

Autor: Milios, Elias, Wabersich, Kim Peter, Berkel, Felix, Schwenkel, Lukas

Predictive safety filters enable the integration of potentially unsafe learning-based control approaches and humans into safety-critical systems. In addition to simple constraint satisfaction, many control problems involve additional stability requir

Externí odkaz: http://arxiv.org/abs/2404.05496

Zobrazit plný text záznamu

Report

Vehicle single track modeling using physics guided neural differential equations

Autor: Rhode, Stephan, Jarmolowitz, Fabian, Berkel, Felix

In this paper, we follow the physics guided modeling approach and integrate a neural differential equation network into the physical structure of a vehicle single track model. By relying on the kinematic relations of the single track ordinary differe

Externí odkaz: http://arxiv.org/abs/2403.11648

Zobrazit plný text záznamu

Report

Learning Soft Constrained MPC Value Functions: Efficient MPC Design and Implementation providing Stability and Safety Guarantees

Autor: Chatzikiriakos, Nicolas, Wabersich, Kim P., Berkel, Felix, Pauli, Patricia, Iannelli, Andrea

Model Predictive Control (MPC) can be applied to safety-critical control problems, providing closed-loop safety and performance guarantees. Implementation of MPC controllers requires solving an optimization problem at every sampling instant, which is

Externí odkaz: http://arxiv.org/abs/2401.07780

Zobrazit plný text záznamu