Prof. Dr. Karl Worthmann: Optimization Based Control
Prof. Dr. Karl Worthmann
Optimization Based Control
Tel.: +49 3677 69-3624
Fax: +49 3677 69-3270
E-Mail: karl.worthmann@tu-ilmenau.de
Büro: Curiebau, Raum 232
Weimarer Straße 25, 98693 Ilmenau
Research
My research interests are:
- Distributed control and optimization, see, e.g. my subproject "Distributed control of smart grids" within the BMBF project KONSENS (Konsistente Optimierung uNd Stabilisierung Elektrischer NetzwerkSysteme)
- Mathematical systems theory, see, e.g. my subproject within the DFG project "System Theory of partial differential-aglebraic equations"
- Model Predictive Control (MPC), see, e.g. my scientific network "Regulation of Mobile Robots using Model Predictive Control" funded by the DFG
- Stability analysis of nonlinear systems
- Sampled-data and networked systems
Teaching
- Sommersemester 2019
- Wintersemester 2018/19
- Wintersemester 2017/18
- Sommersemester 2017
- Wintersemester 2016/17
- Sommersemester 2016
- Wintersemester 2015/16
- Sommersemester 2015
- Wintersemester 2014/15
- Sommersemester 2014
Sommersemester 2019
Numerik für Informatiker (2+2; Bachelor Informatik 2013 / Master Informatik 2013)
Vorlesung: Freitag 07:00 - 08:30 Uhr, Sr Hu 211/212
Übung: Mittwoch 15:00 - 16:30 Uhr; Sr C 115 (RTK) bei Frau B. Walther
Literaturempfehlungen (in alphabetischer Reihenfolge)
- L. Grüne: Einführung in die numerische Mathematik, Vorlesungsskript Uni Bayreuth, 5.Auflage
- T. Huckl
e und S. Schneider: Numerische Methoden - Eine Einführung für Informatiker, Naturwissenschaftler, Ingenieure und Mathematiker, 2.Auflage, Springer, 2006. - S. Kurz, M. Stoll und K. Worthmann: Angewandte Mathematik - Ein Lehrbuch für Lehramtsstudierende, Springer Lehrbuch, 2018.
- J.A. Trangenstein: Scientific Computing - Vol. I - Linear and Nonlinear Equations, Springer, Texts in computational science and engineering (Editors: T.J. Barth et al.) 18, 2017.
- J.A. Trangenstein: Scientific Computing: Vol. II - Eigenvalues and Optimization, Springer, Texts in computational science and engineering (Editors: T.J. Barth et al.) 19, 2017.
- J.A. Trangenstein: Scientific Computing: Vol. III - Approximation and Integration, Springer, Texts in computational science and engineering (Editors: T.J. Barth et al.) 20, 2017.
Wintersemester 2018/19
Angewandte Analysis (2+1)
Vorlesung: Dienstag 15:00 - 16:30, C 113
Übung: Freitag (u) 11:00 - 12:30, C113
Empfohlene Literatur:
- J. Macki, A. Strauss: Introduction to Optimal Control Theory, Springer Undergraduate Texts in Mathematics (editors: J.H. Ewing, F.W. Gehring, and P.R. Halmos), 1995.
- H. Schättler, U. Ledzewicz: Geometric Optimal Control - Theory, Methods and Examples, Springer Interdisciplinary Applied Mathematics, 2012.
Mathematik für Physiker 2: Algorithmen (1+1)
Vorlesung: Mittwoch (u) 13:00 - 14:30, Sr C 108
Übung: Mittwoch (g) 13:00 - 14:30, C 115 (RTK) bei Brigitte Walther
Empfohlene Literatur:
- L. Grüne: Einführung in die numerische Mathematik, Vorlesungsskript Uni Bayreuth, 5.Auflage
- L. Grüne: Numerische Methoden für gewöhnliche Differentialgleichungen, Vorlesungsskript Uni Bayreuth, 6.Auflage.
- S. Kurz, M. Stoll und K. Worthmann: Angewandte Mathematik - Ein Lehrbuch für Lehramtsstudierende, Springer Lehrbuch, 2018.
Systemtheorie III (2+1)
Vorlesung: Dienstag 09:00 Uhr, Sr C 112
Übung: Mittwoch (u) 17:00 Uhr, Sr C 112 bei Henrik Winkler
Empfohlene Literatur:
- L. Grüne, J. Pannek: Nonlinear Model Predictive Control - Theory and Algorithms, Springer Communications and Control Engineering (editors: A. Isidori, J.H. van Schuppen, E.D. Sontag, M. Krstic), 2nd edition, 2017.
- B. Kouvaritakis, M. Cannon: Model Predictive Control: Classical, Robust and Stochastic, Springer Advanced Textbooks in Control and Signal Processing, 1st edition, 2016.
- J.B. Rawlings, D.Q. Mayne, and M.M. Diehl: Model Predictive Control: Theory, Computation, and Design, Nob Hill Publishing, 2nd edition, 2017.
Ingenieurmathematik III: Beispiele (Vektorfelder)
Wintersemester 2017/18
Mathematik 3
(siehe Vorlesungshomepage)
Vorlesung:
- Dienstag: 09:00 Uhr, HH-Hs
- Donnerstag: 15:00 Uhr, Hs2
Zusätzliche Unterlagen:
- Kettenregel: Vertiefung
- Vektorfelder: Beispiele
Empfohlene Literatur: (zusätzlich zu den Literaturhinweisen auf der Vorlesungshomepage)
- T. Arens et al.:Mathematik, 3. Auflage, Springer Spektrum, 2015: Kapitel 24
- P. Dyke: An Introduction to Laplace Transforms and Fourier Series, Springer Undergraduate Mathematics Series, 2014.
Angewandte Analysis
Empfohlene Literatur: J. Macki, A. Strauss: Introduction to Optimal Control Theory, Springer Undergraduate Texts in Mathematics (editors: J.H. Ewing, F.W. Gehring, and P.R. Halmos), 1995.
- Vorlesung: Dienstag 15:00 - 16:30, C 113
- Übung: Freitag (u) 11:00 - 12:30, C113 (H. Gernandt)
Sommersemester 2017
Differentialgleichungen - qualitative Theorie (2+1)
- Vorlesung: Donnerstag 15:00 - 16:30 Uhr, Sr C 112
- Übung: Mittwoch 17:00 - 18:30 Uhr, Sr, C 110 bei Herrn H. Gernandt
Vorlesungsunterlagen gehen den Teilnehmern per Mail zu.
Empfohlene Literatur:
L. Grüne, O. Junge: Gewöhnliche Differentialgleichungen - Eine Einführung aus der Perspektive der dynamischen Systeme in Bachelorkurs Mathematik (Herausgeber: M. Aigner, H. Faßbender, J. Kramer, P. Gritzmann, V. Mehrmann und G. Wüstholz), Vieweg + Teubner, 2009.
H. Logemann, E.P. Ryan: Ordinary Differential Equations - Analysis, Qualitative Theory and Control in Springer Undergraduate Mathematics Series (editors: M.A.J. Chaplain, K. Erdmann, A. MacIntyre, E. Süli, M.R. Tehranchi, and J.F. Toland), Springer-Verlag 2014.
H.K. Khalil: Nonlinear Systems, 3rd edition, Prentice Hall, 2002.
Numerik für Informatiker (2+2; Bachelor Informatik 2010 / Bachelor Informatik 2013 / Master Informatik 2009 / Master Informatik 2013)
- Vorlesung: Freitag 07:15 - 08:45 Uhr, Sr Hu 211/212
- Übung: Mittwoch 15:00 - 16:30 Uhr; Sr C 115 (RTK) bei Frau B. Walther
Vorlesungsunterlagen [pdf; Stand 7. Juli 2017]
Empfohlene Literatur:
T. Huckle und S. Schneider: Numerische Methoden - Eine Einführung für Informatiker, Naturwissenschaftler, Ingenieure und Mathematiker, 2.Auflage, Springer, 2006.
L. Grüne: Einführung in die numerische Mathematik, Vorlesungsskript Uni Bayreuth, 5.Auflage.
Wintersemester 2016/17
Mathematik 3
Vorlesung:
- Montag: 09:00 Uhr, HH-Hs
- Mittwoch: 13:00 Uhr, Hs2
Beispiele (Vektorfelder)
Übung:
| Dienstag | 15:00 | C-Hs | FZT 3 |
Donnerstag | 09:00 | Sr H 1510 | MB 3 |
| 17:00 | Sr K 2002 A | LAE 3.FS PH, LAM 3.FS MA, LAM 3.FS SK, MB 3.FS 3, MTR 3.FS, OST 3.FS |
Empfohlene Literatur: (zusätzlich zu den Literaturhinweisen auf der Vorlesungshomepage)
- T. Arens et al.: Mathematik, 3. Auflage, Springer Spektrum, 2015: Kapitel 24
- L. Papula: Mathematik für Ingenieure und Naturwissenschaftler Band 2 - Ein Lehr- und Arbeitsbuch für das Grundstudium, 14. Auflage, Springer Vieweg, 2015: Kapitel III.2
Systemtheorie III
Vorlesung:
- Montag (G): 15:00 Uhr, Sr C 112
- Dienstag (U): 09:00 Uhr, Sr C 113
Übung:
Empfohlene Literatur:
- L. Grüne: Mathematische Kontrolltheorie, Vorlesungsskript Universität Bayreuth, 4. Auflage
- L. Grüne, J. Pannek: Nonlinear Model Predictive Control - Theory and Algorithms, Springer 2011D.
- Hinrichsen, A.J. Pritchard: Mathematical Systems Theory I - Modelling, State Space Analysis, Stability and Robustness, Springer, 2005
- J.B. Rawlings, D.Q. Mayne: Model Predictive Control: Theory and Design, Nob Hill Publishing 2015
- E.D. Sontag: Mathematical Control Theory: Deterministic Finite Dimensional Systems, Second Edition, Springer 1998
Sommersemester 2016
Numerik für Informatiker (2+2; Bachelor Informatik 2010 / Bachelor Informatik 2013 / Master Informatik 2009 / Master Informatik 2013)
Empfohlene Literatur: T. Huckle und S. Schneider: Numerische Methoden - Eine Einführung für Informatiker, Naturwissenschaftler, Ingenieure und Mathematiker, 2.Auflage, Springer, 2006.
L. Grüne: Einführung in die numerische Mathematik, Vorlesungsskript Uni Bayreuth, 5.Auflage.
- Vorlesung: Freitag 07:00 - 08:30 Uhr, Sr C 113
- Übung: Mittwoch 15:00 - 16:30 Uhr; Sr C 113 bzw. C 115 (RTK) bei Frau B. Walther
Mathematik 2 für Ingeniuere
Vorlesung:
- Montag: 11:00 Uhr, Hs 2
- Freitag: 11:00 Uhr, H-Hs
Übung:
| Montag | 13:00 Uhr | Sr K 2002 B | FZT 2. Fs 1 |
|---|---|---|---|
| Sr HU 129 | FZT 2. Fs 3 | ||
| Sr H 1527 | FZT 2. Fs 2 | ||
| Dienstag | 09:00 Uhr | Sr HU 129 | MB 2. FS 2 |
| Sr K 2003 B | MB 2. FS 1 | ||
| Sr HU 010 | MB 2. FS 3 | ||
| fakultativ: | 17:00 Uhr | C 115 (RTK) | BTC 2.FS, FZT 2.FS 1, FZT 2.FS 2, FZT 2.FS 3, LAE 2.FS, LAM 2.FS, MB 2.FS 1, MB 2.FS 2, MB 2.FS 3, MTR 2.FS, OST 2.FS |
| Donnerstag: | 11:00 Uhr | Sr H 1527 | LAE 2.FS, LAM 2.FS, MTR 2.FS, OST 2.FS |
| 15:00 Uhr | Sr K 2026 | BTC 2. FS |
Wintersemester 2015/16
Mathematik 1
Vorlesung:
- Dienstag: 17:00 Uhr, Hs2
- Mittwoch: 11:00 Uhr, H-Hs
Übung:
| Montag | 11:00 Uhr | K 2002A | LAE 1.FS, LAM 1.FS, MTR 1.FS, OST 1.FS |
|---|---|---|---|
15:00 Uhr | HU 012 | MB 1.FS 1 | |
| HU 211/212 | MB 1.FS 2 | ||
| HU 117 | MB 1.FS 3 | ||
| 17:00 Uhr | K 2003A | BTC 1.FS | |
| Mittwoch | 07:00 Uhr | C 113 | BTC 1.FS |
| Donnerstag | 07:00 Uhr | HU 204 | MB 1.FS 1 |
11:00 Uhr | HU-Hs | FZT 1.FS 3 | |
| K 2032 | FZT 1.FS 1 | ||
| HU 201 | FZT 1.FS 2 | ||
| Freitag | 07:00 Uhr | H 2507 | LAE 1.FS, LAM 1.FS, MTR 1.FS, OST 1.FS |
09:00 Uhr | Oe 118 | MB 1.FS 3 | |
| Oe 305 | MB 1.FS 2 | ||
13:00 Uhr | K-Hs 2 | FZT 1.FS 3 | |
| K 2002A | FZT 1.FS 2 | ||
| HU 013 | FZT 1.FS 1 |
Sommersemester 2015
Numerik für Informatiker (2+2; Bachelor Informatik 2010 / Bachelor Informatik 2013 / Master Informatik 2009 / Master Informatik 2013)
Empfohlene Literatur: T. Huckle und S. Schneider: Numerische Methoden - Eine Einführung für Informatiker, Naturwissenschaftler, Ingenieure und Mathematiker, 2.Auflage, Springer, 2006.
L. Grüne: Einführung in die numerische Mathematik, Vorlesungsskript Uni Bayreuth, 5.Auflage.
- Vorlesung: Freitag 07:00 - 08:30 Uhr, Sr C 113
- Übung: Mittwoch 15:00 - 16:30 Uhr; Sr C 113 bzw. C 115 (RTK) bei Frau B. Walther
Systemtheorie II (2+1;Master Mathematik 2013 (AM) / Master Mathematik 2013 (WM) / Master TKS 2014)
Empfohlene Literatur: L. Grüne, J. Pannek: Nonlinear Model Predictive Control - Theory and Algorithms in Communications and Control Engineering (Series Editors: A. Isidori, J.H. van Schuppen, E.D. Sontag, M. Thoma, and M. Krstic), Springer Verlag, 2011.
J.B. Rawlings, D.Q. Mayne: Model Predictive Control: Theory and Design, Fifth Electronic Download, Nob Hill Publishing, Madison, Wisconsin, 2015.
L. Grüne: Mathematische Kontrolltheorie, Vorlesungsskript Uni Bayreuth, 3.Auflage.
E.D. Sontag: Mathematical Control Theory: Deterministic Finite Dimensional Systems, Second Edition, Springer, New York, 1998.
- Vorlesung: Donnerstag 15:00 - 16:30 Uhr, Sr C 112
- Übung: Donnerstag 11:00 - 12:30 Uhr, Sr H 1518 (U; ab 23.04) bei Herrn H. Gernandt
Wintersemester 2014/15
Angewandte Analysis (2+1)
Empfohlene Literatur: J. Macki, A. Strauss: Introduction to Optimal Control Theory in Undergraduate Texts in Mathematics (editors: J.H. Ewing, F.W. Gehring, and P.R. Halmos), Springer Verlag, 1995.
- Vorlesung: Dienstag 13:00 - 14:30, C 113
- Übung: Freitag (u) 11:00 - 12:30, C112 (T. Selig)
Mathematik für Physiker 2: Algorithmen (1+1)
Empfohlene Literatur: L. Grüne: Einführung in die numerische Mathematik, Vorlesungsskript Uni Bayreuth, 5.Auflage (http://num.math.uni-bayreuth.de/de/team/Gruene_Lars/lecture_notes/num1/num1_5.pdf) und L. Grüne: Numerische Methoden für gewöhnliche Differentialgleichungen , Vorlesungsskript Uni Bayreuth, 4.Auflage (http://num.math.uni-bayreuth.de/de/team/Gruene_Lars/lecture_notes/num2/num2_4.pdf).
- Vorlesung: Dienstag (g) 15:00 - 16:30, C 115 (RTK), Sr C 110
- Übung: Dienstag (u) 15:00 - 16:30, C 115 (RTK), Sr C 110 (B. Walther)
Systemtheorie I (2+1)
Empfohlene Literatur: H. Logemann, E.P. Ryan: Ordinary Differential Equations - Analysis, Qualitative Theory and Control in Springer Undergraduate Mathematics Series (editors: M.A.J. Chaplain, K. Erdmann, A. MacIntyre, E. Süli, M.R. Tehranchi, and J.F. Toland), Springer-Verlag 2014.
- Vorlesung: Mittwoch 09:00 - 10:30, C 113
- Übung: Freitag (u) 09:00 - 10:30, C 113 (T. Selig)
Systemtheorie III (2+1)
Empfohlene Literatur: L. Grüne, J. Pannek: Nonlinear Model Predictive Control - Theory and Algorithms in Communications and Control Engineering (Series Editors: A. Isidori, J.H. van Schuppen, E.D. Sontag, M. Thoma, and M. Krstic), Springer Verlag, 2011.
- Vorlesung & Übung: nach Vereinbarung
Sommersemester 2014
Differentialgleichungen - qualitative Theorie (2+1)
Empfohlene Literatur: L. Grüne, O. Junge: Gewöhnliche Differentialgleichungen - Eine Einführung aus der Perspektive der dynamischen Systeme in Bachelorkurs Mathematik (Herausgeber: M. Aigner, H. Faßbender, J. Kramer, P. Gritzmann, V. Mehrmann und G. Wüstholz), Vieweg + Teubner, 2009 und H.K. Khalil: Nonlinear Systems, 3rd edition, Prentice Hall, 2002.
- Vorlesung: Donnerstag 15:00 - 16:30 Uhr, Sr C 113
- Übung: siehe Priv. Doz. Dr. Henrik Winkler
Numerik für Informatiker (2+2)
Empfohlene Literatur: L. Grüne: Einführung in die numerische Mathematik, Vorlesungsskript Uni Bayreuth, 5.Auflage (http://num.math.uni-bayreuth.de/de/team/Gruene_Lars/lecture_notes/num1/num1_5.pdf).
- Vorlesung: Dienstag 07:00 - 08:30 Uhr, Sr C 113
- Übung: Mittwoch 15:00 - 16:30 Uhr; Sr C 113; bei Bedarf C 115 (RTK)
- Übungsblätter
Blatt 01
Blatt 02; float.cpp
Blatt 03
Blatt 04
Blatt 05; Matlab-Dateien: Rückwärtseinsetzen und QR
Blatt 06
Blatt 07
Blatt 08
Blatt 09; Matlab-Dateien: Aufgabe 28
Blatt 10
Blatt 11
Blatt 12; Aufgaben 35 & 36
Blatt 13; Aufgabe 40
- Vorlesungsskript
Publications
2019
Journal Articles:
- M. Baumann, S. Grundel, P. Sauerteig, and K. Worthmann
Replacing distributed optimization by surrogate models in coupled microgrids
Submitted - J.-M. Coron, L. Grüne, and K. Worthmann
Model Predictive Control, Cost Controllability, and Homogeneity
arXiv: 1906.05112 - K. Flaßkamp, S. Ober-Blöbaum, and K. Worthmann
Symmetry and Motion Primitives in Model Predictive Control
arXiv: 1906.09134 - K. Flaßkamp, K. Worthmann, J. Mühlenhoff, C. Greiner-Petter, C. Büskens, J. Oertel, D. Keiner, and T. Sattel
Towards Optimal Control of Concentric Tube Robots in Stereotactic Neurosurgery
Submitted - A. Ilchmann, L. Leben, J. Witschel, and K. Worthmann
Optimal Control of differential-algebraic equations from an ordinary differential equation perspective
Optimal Control - Applications and Methods (OCAM), 2019
Doi: 10.1002/oca.2481 - P. Sauerteig and K. Worthmann
Towards multi-objective optimization and control of smart grids
Optimal Control - Applications and Methods (OCAM), 2019
To appear
Book Chapters:
- P. Braun, P. Sauerteig, and K. Worthmann
Distributed optimization based control on the example of microgrids
In M.J. Blondin, P.M. Pardalos, and J. Saéz, editors, Computational Intelligence and Optimization Methods for Control Engineering, volume 150 of Springer Optimization and Its Applications. Springer International Publishing, 2019, to appear. - S. Grundel, P. Sauerteig, and K. Worthmann
Surrogate models for coupled microgrids
In I. Faragó, F. Izsák, P.L. Simon, editors, Progress in Industrial Mathematics at ECMI 2018, volume 30 of Mathematics in Industry, Springer, 2019, to appear.
Refeered Proceedings:
- T. Faulwasser, K. Flaßkamp, S. Ober-Blöbaum, and K. Worthmann
Towards Velocity Turnpikes in Optimal Control of Mechanical Systems
IFAC PapersOnLine
( 11th IFAC Symposium on Nonlinear Control Systems, Vienna, Austria)
arXiv: 1907.01786
2018
Journal Articles:
- P. Braun, T. Faulwasser, L. Grüne, C.M. Kellett, S.R. Weller, and K. Worthmann
Hierarchical Distributed ADMM for Predictive Control with Applications in Power Networks
IFAC Journal of Systems and Control 3, 10-22, 2018.
Doi: 10.1016.j.ifacsc.2018.01.001 - T. Sprodowski, M.W. Mehrez, K. Worthmann, G.K.I. Mann, R.G. Gosine, J.K. Sagawa, and J. Pannek
Differential Communication with Distributed MPC based on Occupancy Grid
Information Sciences 453, 426-441, 2018.
Doi: 10.1016/j.ins.2018.04.034
Books:
- S. Kurz, M. Stoll, and K. Worthmann
Angewandte Mathematik - Ein Lehrbuch für Lehramtsstudierende
Springer Spektrum (German).
Doi: 10.1007/978-3-662-56705-0
Refereed Proceedings:
- K. Flaßkamp, K. Worthmann, C. Greiner-Petter, C. Büskens, T. Sattel
An Optimal Control Problem for Stereotactic Neurosurgery
Vol. ARGESIM Report 55, 67-68, 2018
(MathMod 2018 Extended Abstract Volume) - A. Ilchmann, J. Witschel, and K. Worthmann
Model Predictive Control for Linear Differential-Algebraic Equations
IFAC PapersOnLine 51 (20), 116-121, 2018
(6th IFAC Conference on Nonlinear Model Predictive Control, Madison, Wisconsin, USA) - A. Ilchmann, J. Witschel, and K. Worthmann
Model Predictive Control for Linear DAEs without Terminal Constraints and Costs
IFAC PapersOnLine 51 (20), 98-103, 2018
(6th IFAC Conference on Nonlinear Model Predictive Control, Madison, Wisconsin, USA) - M. Schulze Darup and K. Worthmann
Tailored MPC for mobile robots with very short prediction horizons
in Proceedings of the 2018 European Control Conference (ECC 2018), Limassol, Cyprus, 1361-1366.
2017
Journal Articles:
- P. Braun, L. Grüne, C.M. Kellett, S.R. Weller, and K. Worthmann
Towards price-based predictive control of a small scale electricity network
International Journal of Control, 1-22, 2017.
Preprint [pdf] available under license Deutsches Urheberrecht
Doi: 10.1080/00207179.2017.1339329 - M.A. Müller and K. Worthmann
Quadratic costs do not always work in MPC
Automatica 82, 269-277, 2017.
Preprint [pdf] available under license Deutsches Urheberrecht
Doi: 10.1016/j.automatica.2017.04.058 - M. Proch, K. Worthmann, J. Schlüchtermann
A negotiation-based algorithm to coordinate supplier development in decentralized supply chains
European Journal of Operational Research, 256(2), 412-429, 2016. Doi:10.1016/j.ejor.2016.06.029 (open access) - K. Worthmann, M.W. Mehrez, G.K.I. Mann, R.G. Gosine, and J. Pannek
Interaction of Open and Closed Loop Control in MPC
Automatica 82, 243-250, 2017.
Preprint [pdf] available under license Deutsches Urheberrecht
Doi: 10.1016/j.automatica.2017.04.038
Refereed Proceedings:
- D.-M. Ioan, F. Stoican, and K. Worthmann
Active fault detection and isolation in a zonotopic framework
in Proceedings of the 21st IEEE International Conference on System Theory, Control and Computing (ICSTCC 2017), Sinaia, Romania, 595-600. - M.W. Mehrez, T. Sprodowski, K. Worthmann, G.K.I. Mann, R.G. Gosine, J.K. Sagawa, and J. Pannek
Occupancy Grid based Distributed MPC of Mobile Robots
in Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2017), Vancouver, Canada, 4842-4847. - M.W. Mehrez, K. Worthmann, G.K.I. Mann, R.G. Gosine, and T. Faulwasser
Predictive Path Following of Mobile Robots without Terminal Stabilizing Constraints
IFAC PapersOnLine 50(1), 9852-9857, 2017 (IFAC World Congress, Toulouse, France)
Doi: 10.1016/j.ifacol.2017.08.907 - M.W. Mehrez, K. Worthmann, G.K.I. Mann, R.G. Gosine, and J. Pannek
Experimental Speedup and Stability Validation for Multi-Step MPC
IFAC PapersOnLine 50(1), 8698-8703, 2017 (IFAC World Congress, Toulouse, France)
Doi: 10.1016/j.ifacol.2017.08.1551
Proceedings (without peer-review):
- J.P. Bergmann, M. Bielenin, R.A. Herzog, J. Hildebrand, I. Riedel, K. Schricker, C. Trunk, K. Worthmann
Prevention of solidification cracking during pulsed laser beam welding
PAMM Proc. Appl. Math. Mech. 17, 405 – 406, 2017
Doi: 10.1002/pamm.201710172 - M.A. Müller and K. Worthmann
On quadratic stage costs for mobile robots in model predictive control
PAMM Proc. Appl. Math. Mech. 17, 825-826, 2017
Doi: 10.1002/pamm.201710380
2016
Journal Articles:
- P. Braun, L. Grüne, C.M. Kellett, S.R. Weller, and K. Worthmann
A Distributed Optimization Algorithm for the Predictive Control of Smart Grids
IEEE Transactions on Automatic Control 61(12), 3898-3911, 2016.
Preprint [pdf] available under license Deutsches Urheberrecht. - K. Worthmann, M.W. Mehrez, M. Zanon, G.K.I. Mann, R.G. Gosine, M. Diehl
Model Predictive Control of Nonholonomic Mobile Robots without Stabilizing Constraints and Costs
IEEE Transactions on Control Systems Technology, 24(4), 1394-1406, 2016.
Preprint [pdf] available under license Deutsches Urheberrecht. - K. Worthmann, M. Proch, P. Braun, J. Schlüchtermann, and J. Pannek
Towards Dynamic Contract Extension in Supplier Development
Logistics Research, 9(1), 1-12, 2016.
Doi: 10.1007/s12159-016-0141-z (open access)
Refereed Book Chapters
- P. Braun, L. Grüne, C.M. Kellett, S.R. Weller, and K. Worthmann
Preprint [pdf] available under license Deutsches Urheberrecht.
Model Predictive Control of Residential Energy Systems Using Energy Storage and Controllable Loads
In: G. Russo, V. Capasso, G. Nicosia, V. Romano (eds) Progress in Industrial Mathematics at ECMI 2014. Mathematics in Industry, vol 22, 617-623. Springer, Cham, 2016.
Doi: 10.1007/978-3-319-23413-7_85
Refereed Proceedings:
- P. Braun, T. Faulwasser, L. Grüne, C.M. Kellett, S.R. Weller, and K. Worthmann
Maximal Islanding Time For Microgrids via Distributed Predictive Control
in Proceedings of the 22nd International Symposium on Mathematical Theory of Networks and Systems (MTNS 2016), Minneapolis, MN, USA, 2016, 652-659 [pdf]. - K. Worthmann, P. Braun, M. Proch, J. Schlüchtermann, and J. Pannek
On Contractual Periods in Supplier Development
IFAC-PapersOnLine 49(2), 060-065, 2016 (7th IFAC Conference on Management and Control of Production and Logistics (MCPL 2016), Bremen, Germany)
2015
Journal Articles:
- K. Worthmann, C.M. Kellett, P. Braun, L. Grüne, S.R. Weller
Distributed and decentralized Control of Residential Energy Systems incorporating Battery Storage
IEEE Transactions on Smart Grid 6(4), 1914-1923, 2015 [PDF]
Refereed Proceedings:
- P. Braun, L. Grüne, C.M. Kellett, S.R. Weller, and K. Worthmann:
A Real-Time Pricing Scheme for Residential Energy Systems Using a Market Maker
Proceedings of the Australian Control Conference (AUCC 2015), Gold Coast, Australia, 259-262. - P. Braun, L. Grüne, C.M. Kellett, S.R. Weller, and K. Worthmann
Predictive Control of a Smart Grid: A Distributed Optimization Algorithm with Centralized Performance Properties
Proceedings of the 54th IEEE Conference on Decision and Control (CDC 2015), Osaka, Japan, 2015, 5593-5598. - K. Worthmann, M.W. Mehrez, M. Zanon, G.K.I. Mann, R.G. Gosine, M. Diehl
Regulation of Differential Drive Robots using Continuous Time MPC without Stabilizing Constraints or Costs
IFAC-PapersOnLine 48(23): 129-135, 2015 (5th IFAC Conference on Nonlinear Model Predictive Control (NMPC) 2015, Seville, Spain) [pdf] - K. Worthmann, M. Reble, L. Grüne, and F. Allgöwer
Unconstrained Nonlinear MPC: Performance Estimates for Sampled-Data Systems with Zero Order Hold
Proceedings of the 54th IEEE Conference on Decision and Control (CDC 2015), Osaka, Japan, 2015, 4971-4976 [pdf]
2014
Journal Articles:
- A. Boccia, L. Grüne, K. Worthmann
Stability and feasibility of state constrained MPC without stabilizing terminal constraints
Systems and Control Letters 72, 14-21, 2014 [PDF] - T. Damm, L. Grüne, M. Stieler, and K. Worthmann
An exponential turnpike theorem for dissipative discrete time optimal control problems
SIAM J. Control Optim., Vol. 52 (3), 1935-1957, 2014 [PDF] - J. Pannek and K. Worthmann
Stability and performance guarantees for model predictive control algorithms without terminal constraints
ZAMM - Journal of Applied Mathematics and Mechanics; Special Issue on Control theory for digitally networked dynamical systems 94(4), 317-330, 2014 [PDF] - K.Worthmann, M.Reble, L.Grüne, F.Allgöwer
The Role of Sampling for Stability and Performance in Unconstrained Nonlinear Model Predictive Control
SIAM J. Control Optim. 52(1), 581-605, 2014 [PDF]
Refereed Proceedings:
- A. Boccia, L. Grüne, K. Worthmann
Stability and feasibility of state-constrained linear MPC without stabilizing terminal constraints
in: Proceedings of the 21st International Symposium on Mathematical Theory of Networks and Systems (MTNS 2014), Groningen, Netherlands, 2014, 1173-1180 [PDF] - K. Worthmann, C.M. Kellett, L. Grüne, and S.R. Weller
Distributed Control of Residential Energy Systems Using a Market Maker
IFAC Proceedings Volumes 47(3), 11641-11646, 2014
(19th IFAC World Congress, Cape Town, South Africa) [PDF]
Proceedings (without peer-review):
- K. Worthmann, M. Reble, L. Grüne, and F. Allgöwer
Nonlinear MPC: the Impact of Sampling on Closed Loop Stability
in: Proceedings in Applied Mathematics and Mechanics (PAMM 2014) 14(1), 911-912, 2014 [PDF]
Book Chapters:
- L. Grüne, F. Allgöwer, R. Findeisen, J. Fischer, D. Groß,
U. D. Hanebeck, B. Kern, M. A. Müller, J. Pannek, M. Reble,
O. Stursberg, P. Varutti, K. Worthmann
Distributed and Networked Model Predictive Control
in: Control Theory of Digitally Networked Dynamic Systems, Chapter 4, J. Lunze (ed.) Springer Verlag, 2014, 111 - 167
DOI: 10.1007/978-3-319-01131-8_4 Front Matter [PDF]
prior publications
2012
- P. Braun, J. Pannek, K. Worthmann
Predictive Control Algorithms: Stability Despite Shortened Optimization Horizons
in: Proceedings on the 15th IFAC Workshop on Control Applications of Optimization (CAO 2012), Rimini, Italy, 2012, 274-279 [PDF] - L. Grüne, J. Pannek, M. Seehafer, K. Worthmann
Analysis of Unconstrained Nonlinear MPC Schemes with Time Varying Control Horizon
in: Proceedings of the 51st IEEE Conference on Decision and Control (CDC 2012), Maui, HI, USA, 2012, 2605-2610 [PDF] - L. Grüne, J. Pannek, K. Worthmann:
Ensuring Stability in Networked Systems with Nonlinear MPC for Continuous Time Systems
in: Proceedings of the 51st IEEE Conference on Decision and Control (CDC 2012),
Maui, HI, USA, 2012, 14-19 [PDF]
- L. Grüne, K. Worthmann
A distributed NMPC scheme without stabilizing terminal constraints
in: Distributed Decision Making and Control
Chapter 12, R. Johansson, A. Rantzer (eds.)
Springer Verlag, 2012, 261 - 287
DOI: 10.1007/978-1-4471-2265-4_12 [PDF]
- K. Worthmann
Estimates on the Prediction Horizon Length in Model Predictive Control
in: Proceedings of the 20th International Symposium on Mathematical Theory of Networks and Systems (MTNS2012)
Melbourne, Australia, 2012, MTNS2012_0112_paper.pdf [PDF] - K. Worthmann
Estimates of the Prediction Horizon Length in MPC: a Numerical Case Study
IFAC Proceedings Volumes 45(17), 232-237, 2012.
(4th IFAC Conference on Nonlinear Model Predictive Control, Noordwijkerhout, the Netherlands) [PDF]
2011
- J. Pannek, K. Worthmann
Reducing the Prediction Horizon in NMPC: An Algorithm Based Approach
in: Proceedings of the 18th IFAC World Congress
Milano, Italy, 2011, 7969 - 7974 [PDF] - K. Worthmann
Stability Analysis of Unconstrained Receding Horizon Control Schemes
PhD thesis, Bayreuth, Germany, 2011 [PDF]
2010
- N. Altmüller, L. Grüne, K. Worthmann
Instantaneous control of the linear wave equation
in: Proceedings of the 18th International Symposium on Mathematical Theory of Networks and Systems (MTNS2010)
Budapest, Hungary, 2010, 1895 - 1899 [PDF]
- N. Altmüller, L. Grüne, K. Worthmann
Performance of NMPC schemes without stabilizing terminal constraints
in: Recent Advances in Optimization and its Applications in Engineering
M. Diehl, F. Glineur, E. Jarlebring, W. Michiels (eds.)
Springer Verlag, 2010, 289 - 298 DOI: 10.1007/978-3-642-12598-0_25 [PDF]
- N. Altmüller, L. Grüne, K. Worthmann
Receding Horizon optimal control for the wave equation
in: Proceedings of the 49th IEEE Conference on Decision and Control
Atlanta, Georgia, 2010, 3427 - 3432 [PDF] - L. Grüne, J. Pannek, M. Seehafer, K. Worthmann
Analysis of unconstrained nonlinear MPC schemes with time varying control horizon
SIAM Journal on Control and Optimization 48 (8), 4938 - 4962, 2010 DOI: 10.1137/090758696 [PDF] - L. Grüne, M. von Lossow, J. Pannek, K. Worthmann
MPC: implications of a growth condition on exponentially controllable systems
in: Proceedings of NOLCOS 2010
Bologna, Italy, 2010, 385 - 390 DOI: 10.3182/20100901-3-IT-2016.00225 [PDF]
- L. Grüne, M. von Lossow, K. Worthmann
NMPC suboptimality estimates for sampled-data continuous systems
in: Recent Advances in Optimization and its Applications in Engineering
M. Diehl, F. Glineur, E. Jarlebring, W. Michiels (eds.)
Springer Verlag, 2010, 329 - 338 DOI: 10.1007/978-3-642-12598-0_29 [PDF]
2009
- L. Grüne, D. Nesic, K. Worthmann
Digital redesign of nonlinear multi-input systems
in: Oberwolfach Reports 11, 2009, 619 - 622 [PDF] - L. Grüne, J. Pannek, K. Worthmann
A networked unconstrained nonlinear MPC scheme
in: Proceedings of the European Control Conference (ECC) 2009
Budapest, Hungary, 2009, 371 - 376
- [PDF]
- [PDF-extended] - L. Grüne, J. Pannek, K. Worthmann
A prediction based control scheme for networked systems with delays and packet dropouts
in: Proceedings of the 48th IEEE Conference on Decision and Control
Shanghai, China, 2009, 537 - 542 [PDF]
2008
- L. Grüne, D. Nesic, J. Pannek, K. Worthmann
Redesign techniques for nonlinear sampled-data systems
at-Automatisierungstechnik 56 (Special Issue on Digitally Networked Systems)
38 - 48, 2008 DOI: 10.1524/auto.2008.0684 [PDF] - L. Grüne, K. Worthmann
Nonlinear sampled-data redesign: analytical formulas and their practical implementatio
in: Proceedings of the 18th International Symposium on Mathematical Theory of Networks and Systems (MTNS2008)
CD-Rom, Paper 084.pdf, 6 pages, Blacksburg, Virginia, 2008, [PDF]
- L. Grüne, K. Worthmann
Sampled-data redesign for nonlinear multi-input systems
in: Geometric Control and Nonsmooth Analysis
F. Ancona, A. Bressan, P. Cannarsa, F. Clarke, P. R. Wolenski (eds.) World Scientific, Singapore, 2008, 206 - 227 DOI: 10.1142/9789812776075_0011 [PDF]
- L. Grüne, K. Worthmann, D. Nesic
Continuous-time controller redesign for digital implementation: a trajectory based approach
Automatica 44, 225 - 232, 2008
DOI: 10.1016/j.automatica.2007.05.003 [PDF]
2006
- L. Grüne, D. Nesic, K. Worthmann
High order approximations by sampled-data feedback
in: Proceedings of the 17th International Symposium on Mathematical Theory of Networks and Systems (MTNS2006)
Kyoto, Japan, 2006, 1780 - 1787 [PDF] - K. Worthmann
Digitale Implementierung kontinuierlicher Regler: Analyse und Optimierung Diplomarbeit
Chair of Applied Mathematics, University of Bayreuth, Germany, 2006 [PDF]
Symposia, Workshops, etc.
GAMM Fachausschuss
"Dynamik und Regelungstheorie"
Workshop am 16. und 17. September 2019
in Ilmenau
Organisatoren:
- Achim Ilchmann (Analysis und Dynamische Systeme, TU Ilmenau)
- Johann Reger (Regelungstechnik, TU Ilmenau)
- Thomas Sattel (Mechatronik, TU Ilmenau)
- Carsten Trunk (Angewandte Funktionalanalysis, TU Ilmenau)
- Karl Worthmann (Optimization Based Control, TU Ilmenau)
Blockseminar in Ilmenau
Oberseminar Systemtheorie
16. - 17. September 2019
Regulation of Nonholonomic Mobile Robots
using Model Predictive Control
- Set Point Stabilization, Path Following, and Distributed Control
- Beyond Set Point Stabilization
MPC: Zusammenspiel zwischen Optimierung und Regelung
Vortrag im Mathematisches Kolloquium
20. September 2016
3rd GAMM Juniors' Summer School 2016
Geometric Methods in Multi-Body and Structural Dynamics
Modelling, Simulation and Control
September 5 – 9, 2016
School on Applied Mathematics & Mechanics
Colloquium on the occasion of the
60th birthday of Achim Ilchmann
February 11 -12, 2016
"Hotel am Wald", Elgersburg (Thuringia, Germany)
Organizer: Stephan Trenn
Local Organizers: Carsten Trunk, Karl Worthmann
1st GAMM Juniors Summer School 2014
Differential-Algebraic Equations
Modelling, Fundamentals and Control
September 14 – 20, 2014
School on Applied Mathematics & Mechanics
Antrittsvorlesung
am 26. Juni 2014
Arbeitsgruppenseminar
13. Nov. 2014, 09:30 Uhr, C 325
Zur Analyse von Turnpike- und Dissipativitäts- eigenschaften in Problemen der Optimalsteuerung und der modellprädiktiven Regelung
Timm Faulwasser