Zobrazeno 1 - 10
of 22
pro vyhledávání: '"Muntwiler, Simon"'
This paper presents a robust moving horizon estimation (MHE) approach with provable estimation error bounds for solving the simultaneous localization and mapping (SLAM) problem. We derive sufficient conditions to guarantee robust stability in ego-sta
Externí odkaz:
http://arxiv.org/abs/2411.13310
Autor:
Bodmer, Sabrina, Vogel, Lukas, Muntwiler, Simon, Hansson, Alexander, Bodewig, Tobias, Wahlen, Jonas, Zeilinger, Melanie N., Carron, Andrea
This paper presents an open-source miniature car-like robot with low-cost sensing and a pipeline for optimization-based system identification, state estimation, and control. The overall robotics platform comes at a cost of less than $700 and thus sig
Externí odkaz:
http://arxiv.org/abs/2404.08362
This paper introduces a novel optimization-based approach for parametric nonlinear system identification. Building upon the prediction error method framework, traditionally used for linear system identification, we extend its capabilities to nonlinea
Externí odkaz:
http://arxiv.org/abs/2403.17858
In this paper, we study state estimation for general nonlinear systems with unknown parameters and persistent process and measurement noise. In particular, we are interested in stability properties of the state estimate in the absence of persistency
Externí odkaz:
http://arxiv.org/abs/2312.14049
We consider the design of functional estimators, i.e., approaches to compute an estimate of a nonlinear function of the state of a general nonlinear dynamical system subject to process noise based on noisy output measurements. To this end, we introdu
Externí odkaz:
http://arxiv.org/abs/2312.13859
Publikováno v:
Electric Power Systems Research, volume 231, pages 110630, 2024
This paper presents a novel model order reduction technique tailored for power systems with a large share of inverter-based energy resources. Such systems exhibit an increased level of dynamic stiffness compared to traditional power systems, posing c
Externí odkaz:
http://arxiv.org/abs/2310.10137
We present an output feedback stochastic model predictive control (SMPC) approach for linear systems subject to Gaussian disturbances and measurement noise and probabilistic constraints on system states and inputs. The presented approach combines a l
Externí odkaz:
http://arxiv.org/abs/2212.00351
Autor:
Carron, Andrea, Bodmer, Sabrina, Vogel, Lukas, Zurbrügg, René, Helm, David, Rickenbach, Rahel, Muntwiler, Simon, Sieber, Jerome, Zeilinger, Melanie N.
From both an educational and research point of view, experiments on hardware are a key aspect of robotics and control. In the last decade, many open-source hardware and software frameworks for wheeled robots have been presented, mainly in the form of
Externí odkaz:
http://arxiv.org/abs/2209.12048
Publikováno v:
In Electric Power Systems Research October 2024 235
Autor:
Schiller, Julian D., Muntwiler, Simon, Köhler, Johannes, Zeilinger, Melanie N., Müller, Matthias A.
We provide a novel robust stability analysis for moving horizon estimation (MHE) using a Lyapunov function. Additionally, we introduce linear matrix inequalities (LMIs) to verify the necessary incremental input/output-to-state stability ($\delta$-IOS
Externí odkaz:
http://arxiv.org/abs/2202.12744