no code implementations • 5 Feb 2024 • Robin Strässer, Manuel Schaller, Karl Worthmann, Julian Berberich, Frank Allgöwer
The Koopman operator serves as the theoretical backbone for machine learning of dynamical control systems, where the operator is heuristically approximated by extended dynamic mode decomposition (EDMD).
no code implementations • 3 Dec 2023 • Robin Strässer, Manuel Schaller, Karl Worthmann, Julian Berberich, Frank Allgöwer
We present a method to design a state-feedback controller ensuring exponential stability for nonlinear systems using only measurement data.
no code implementations • 28 Jul 2023 • Sebastian Peitz, Hans Harder, Feliks Nüske, Friedrich Philipp, Manuel Schaller, Karl Worthmann
The Koopman operator has become an essential tool for data-driven analysis, prediction and control of complex systems, the main reason being the enormous potential of identifying linear function space representations of nonlinear dynamics from measurements.
no code implementations • 23 Jun 2023 • Manuel Schaller, Amelie Zeller, Michael Böhm, Oliver Sawodny, Cristina Tarín, Karl Worthmann
Adaptive structures are equipped with sensors and actuators to actively counteract external loads such as wind.
no code implementations • 23 Mar 2022 • Viktoria Kleyman, Manuel Schaller, Mario Mordmuller, Mitsuru Wilson, Ralf Brinkmann, Karl Worthmann, Matthias A. Muller
Adequate therapeutic retinal laser irradiation needs to be adapted to the local absorption.
no code implementations • 25 Feb 2022 • Manuel Schaller, Viktoria Kleyman, Mario Mordmüller, Christian Schmidt, Mitsuru Wilson, Ralf Brinkmann, Matthias A. Müller, Karl Worthmann
Laser photocoagulation is a technique applied in the treatment of retinal diseases.
no code implementations • 25 Feb 2022 • Manuel Schaller, Mitsuru Wilson, Viktoria Kleyman, Mario Mordmüller, Ralf Brinkmann, Matthias A. Müller, Karl Worthmann
Laser photocoagulation is one of the most frequently used treatment approaches for retinal diseases such as diabetic retinopathy and macular edema.
no code implementations • 4 Mar 2021 • Viktoria Kleyman, Manuel Schaller, Mitsuru Wilson, Mario Mordmüller, Ralf Brinkmann, Karl Worthmann, Matthias A. Müller
We find that, regarding convergence speed, the moving horizon estimation slightly outperforms the extended Kalman filter on measurement data in terms of parameter and state estimation, however, on simulated data the results are very similar.
no code implementations • 18 Feb 2021 • Franz Rußwurm, Willem Esterhuizen, Karl Worthmann, Stefan Streif
We consider an input-constrained differential-drive robot with actuator dynamics.
no code implementations • 17 Mar 2020 • Willem Esterhuizen, Karl Worthmann, Stefan Streif
We consider sampled-data Model Predictive Control (MPC) of nonlinear continuous-time control systems.
Optimization and Control Dynamical Systems 93C15 (primary), 93C10, 34H05, 49N10 (secondary)