Predictive Control Barrier Functions: Enhanced Safety Mechanisms for Learning-Based Control
Wabersich, Kim P., Zeilinger, Melanie N.
Published in IEEE transactions on automatic control (01.05.2023)
Published in IEEE transactions on automatic control (01.05.2023)
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Journal Article
A Predictive Safety Filter for Learning-Based Racing Control
Tearle, Ben, Wabersich, Kim P., Carron, Andrea, Zeilinger, Melanie N.
Published in IEEE robotics and automation letters (01.10.2021)
Published in IEEE robotics and automation letters (01.10.2021)
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Journal Article
Fusion of Machine Learning and MPC under Uncertainty: What Advances Are on the Horizon?
Mesbah, Ali, Wabersich, Kim P., Schoellig, Angela P., Zeilinger, Melanie N., Lucia, Sergio, Badgwell, Thomas A., Paulson, Joel A.
Published in 2022 American Control Conference (ACC) (08.06.2022)
Published in 2022 American Control Conference (ACC) (08.06.2022)
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Conference Proceeding
Recursively feasible stochastic model predictive control using indirect feedback
Hewing, Lukas, Wabersich, Kim P., Zeilinger, Melanie N.
Published in Automatica (Oxford) (01.09.2020)
Published in Automatica (Oxford) (01.09.2020)
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Journal Article
State space models vs. multi-step predictors in predictive control: Are state space models complicating safe data-driven designs?
Kohler, Johannes, Wabersich, Kim P., Berberich, Julian, Zeilinger, Melanie N.
Published in 2022 IEEE 61st Conference on Decision and Control (CDC) (06.12.2022)
Published in 2022 IEEE 61st Conference on Decision and Control (CDC) (06.12.2022)
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Conference Proceeding
Adaptive Model Predictive Safety Certification for Learning-based Control
Didier, Alexandre, Wabersich, Kim P., Zeilinger, Melanie N.
Published in 2021 60th IEEE Conference on Decision and Control (CDC) (14.12.2021)
Published in 2021 60th IEEE Conference on Decision and Control (CDC) (14.12.2021)
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Conference Proceeding
Linear Model Predictive Safety Certification for Learning-Based Control
Wabersich, Kim P., Zeilinger, Melanie N.
Published in 2018 IEEE Conference on Decision and Control (CDC) (01.12.2018)
Published in 2018 IEEE Conference on Decision and Control (CDC) (01.12.2018)
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Conference Proceeding
Distributed Model Predictive Safety Certification for Learning-based Control
Muntwiler, Simon, Wabersich, Kim P., Carron, Andrea, Zeilinger, Melanie N.
Published in IFAC-PapersOnLine (2020)
Published in IFAC-PapersOnLine (2020)
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Journal Article
Scalable synthesis of safety certificates from data with application to learning-based control
Wabersich, Kim P., Zeilinger, Melanie N.
Published in 2018 European Control Conference (ECC) (01.06.2018)
Published in 2018 European Control Conference (ECC) (01.06.2018)
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Conference Proceeding
Data-Driven Safety Filters: Hamilton-Jacobi Reachability, Control Barrier Functions, and Predictive Methods for Uncertain Systems
Wabersich, Kim P., Taylor, Andrew J., Choi, Jason J., Sreenath, Koushil, Tomlin, Claire J., Ames, Aaron D., Zeilinger, Melanie N.
Published in IEEE control systems (01.10.2023)
Published in IEEE control systems (01.10.2023)
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Magazine Article
Predictive stability filters for nonlinear dynamical systems affected by disturbances
Didier, Alexandre, Zanelli, Andrea, Wabersich, Kim P, Zeilinger, Melanie N
Year of Publication 20.01.2024
Year of Publication 20.01.2024
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Journal Article
LQG for Constrained Linear Systems: Indirect Feedback Stochastic MPC with Kalman Filtering
Muntwiler, Simon, Wabersich, Kim P, Miklos, Robert, Zeilinger, Melanie N
Published in arXiv.org (17.11.2023)
Published in arXiv.org (17.11.2023)
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Paper
Journal Article
LQG for Constrained Linear Systems: Indirect Feedback Stochastic MPC with Kalman Filtering
Muntwiler, Simon, Wabersich, Kim P., Miklos, Robert, Zeilinger, Melanie N.
Published in 2023 European Control Conference (ECC) (13.06.2023)
Published in 2023 European Control Conference (ECC) (13.06.2023)
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Conference Proceeding