M.Sc.

Johannes Köhler

Research Assistant
Institute for Systems Theory and Automatic Control

Contact

+49 711 685-67751
 +49 711 685-67735

Pfaffenwaldring 9
 70569 Stuttgart
Germany
Room: 2.235

Office Hours

Monday, 10:00 - 10:30 am in my personal  webex room.

Subject

My research focuses on Model Predictive Control for dynamic operation (set point tracking, trajectory tracking, periodic optimal control,...).

Journal publications

  • J. Köhler, R. Soloperto, M. A. Müller, F. Allgöwer
    A computationally efficient robust model predictive control framework for uncertain nonlinear systems,
    Transactions of Automatic Control (TAC) 2020. [extended version]
  • J. Köhler, M. A. Müller, F. Allgöwer
    A nonlinear tracking model predictive control scheme for dynamic target signals,
    Automatica 2020. [extended version]
  • R. Soloperto, J. Köhler, F. Allgöwer
    Augmenting MPC schemes with active learning:Intuitive tuning and guaranteed performance,
    IEEE Control Systems Letters, 2020.
  • J. Berberich, J. Köhler, F. Allgöwer, M. A. Müller
    Dissipativity properties in constrained optimal control: A computational approach,
    Automatica, vol. 114, 108840, 2020.
  • J. Köhler, M. A. Müller, F. Allgöwer
    A nonlinear model predictive control framework using reference generic terminal ingredients,
    Transactions of Automatic Control (TAC) 2020. [Extended version]
  • J. Nubert, J. Köhler, V. Berenz, F. Allgöwer, S. Trimpe
    Safe and Fast Tracking Control on a Robot Manipulator: Robust MPC and Neural Network Control,
    Robotics and Automation Letters 2020.
  • A. Romer, J. Berberich, J. Köhler, F. Allgöwer
    One-shot verification of dissipativity properties from input-output data,
    IEEE Control System Letters 2019.
  • J. Köhler, M. A. Müller, F. Allgöwer
    Distributed Model Predictive Control - Recursive feasibility under inexact dual optimization,
    Automatica 2019. [Extended version]
  • J. Köhler, M. A. Müller, F. Allgöwer
    Nonlinear reference tracking: An economic model predictive control perspective,
    Transactions of Automatic Control (TAC) 2019.
  • J. Köhler, M. A. Müller, F. Allgöwer
    On periodic dissipativity notions in economic model predictive control,
    IEEE Control Systems Letters, 2018.
  • J. Berberich, J. Köhler, F. Allgöwer, M. A. Müller
    Indefinite linear quadratic optimal control: Strict dissipativity and turnpike properties,
    IEEE Control Systems Letters, 2018.
  • M. Hertneck, J. Köhler, S. Trimpe , F. Allgöwer
    Learning an approximate Model Predictive Controller with Guarantees ,
    IEEE Control Systems Letters, 2018.
  • J. Berberich, J. Köhler, M. A. Müller, F. Allgöwer.
    Data-driven model predictive control with stability and robustness guarantees 
    Transactions on Automatic Control, 2019, submitted. [preprint]
  • J. Köhler, P. Kötting, R. Soloperto, F. Allgöwer, M. A. Müller
    A robust adaptive model predictive control framework for nonlinear uncertain systems,
    International Journal of Robust and Nonlinear Control, 2019, submitted. [preprint]
  • A. Koch, J. Berberich, J. Köhler, F. Allgöwer
    Determining optimal input-output properties: A data driven approach,
    2020, [preprint]
  • J. Köhler, M. A. Müller, F. Allgöwer
    Periodic optimal control of nonlinear constrained systems using economic model predictive control,
    Journal of Process Control 2020, submitted. [preprint]
  • J. Köhler, L. Schwenkel, A. Koch, J. Berberich, P. Pauli, F. Allgöwer
    Robust and optimal predictive control of the COVID-19 outbreak,
    Annual Reviews in Control 2020, submitted. [preprint]
  • J. Köhler, M. A. Müller, F. Allgöwer
    Constrained nonlinear output regulation usingmodel predictive control ,
    ransactions on Automatic Control 2020, submitted. [preprint]

Conference publications

  • J. Köhler, M. A. Müller, F. Allgöwer.
    Implicit solutions to constrained nonlinear output regulation using MPC
    IEEE Conference on Decision and Control, 2020, submitted. [preprint]
  • J. Venkatasubramanian, J. Köhler, J. Berberich, F. Allgöwer.
    Robust dual control based on gain scheduling
    IEEE Conference on Decision and Control, 2020, submitted. [preprint]
  • J. Berberich, J. Köhler, M. A. Müller, F. Allgöwer.
    Robust constraint satisfaction in data-driven MPC
    IEEE Conference on Decision and Control, 2020, submitted. [preprint]
  • L. Schwenkel, J. Köhler, M.A. Müller, F. Allgöwer.
    Robust Economic Model Predictive Control withoutTerminal Conditions 
    IFAC World Congress, 2020. [preprint]
  • M. Rosenfelder, J. Köhler, F. Allgöwer.
    Stability and performance in transient average constrained economic MPC without terminal constraints 
    IFAC World Congress, 2020. [preprint]
  • J. Berberich, J. Köhler, M. A. Müller, F. Allgöwer.
    Data-Driven Tracking MPC for changing Setpoints 
    IFAC World Congress, 2020. [preprint]
  • J. Köhler, E. Andina, R. Soloperto, M. A. Müller, F. Allgöwer
    Linear robust adaptive model predictive control: Computational complexity and conservatism,
    EEE Conference on Decision and Control (CDC) 2019. . [Extended version]
  • R. Soloperto, J. Köhler, M. A. Müller, F. Allgöwer
    Dual adaptive MPC for output tracking of linear systems,
    EEE Conference on Decision and Control (CDC) 2019. . [Preprint]
  • J. Köhler, M. A. Müller, F. Allgöwer
    A simple framework for nonlinear robust output-feedback MPC,
    European Control Conference (ECC) 2019.
  • R. Soloperto, J. Köhler, M. A. Müller, F. Allgöwer
    Collision avoidance for uncertain nonlinear systems with moving obstacles using robust Model Predictive Control,
    European Control Conference (ECC) 2019. [Extended version]
  • J. Köhler, M. A. Müller, F. Allgöwer
    MPC for nonlinear periodic tracking using reference generic offline computations,
    Nonlinear Model Predictive Control Confernece (NMPC) 2018.
  • J. Köhler, M. A. Müller, F. Allgöwer
    A novel constraint tightening approach for nonlinear robust model predictive control,
    American Control Conference (ACC), Milwaukey , USA, 2018.
  • J. Köhler, C. Enyioha, F. Allgöwer
    Dynamic Resource Allocation to Control Epidemic Outbreaks - A Model Predictive Control Approach,
    American Control Conference (ACC), Milwaukey , USA, 2018.
  • J. Köhler, M. A. Müller, F. Allgöwer
    Nonlinear Reference Tracking with Model Predictive Control: An Intuitive Approach,
    European Control Conference (ECC), Limassol , Cyprus, 2018.
  • J. Köhler, M. A. Müller, N. Li, F. Allgöwer 
    Real Time Economic Dispatch for power networks: A Distributed Economic Model Predictive Control Approach,
    Proceedings of the IEEE Conference on Decision and Control (CDC), Melbourne, Australia, 2017. 
  • J. Köhler, M. Manderla, F. Malchow
    Embedded Model Predictive Direct Switching Control for High Performance Electrical Drives - A Quantitative Comparison,
    Proceedings of the IFAC World Congress, Toulouse, France, 2017.
  • J. Fehr, J. Köhler, C. Kleinbach.
    Optimal Forces for the Deceleration of the ES-2 Dummy.
    Proceedings of the 10th European LS-DYNA Conference 2015, Würzburg, Germany
Sommersemester 2020

Lecturer Model Predictive Control
Wintersemester 2020

Praktikum Konzepte der Regelungstechnik

Sommersemester 2019

Lecturer Model Predictive Control
Wintersemester 2019

Einführung in die Regelungstechnik
Praktikum Konzepte der Regelungstechnik

Sommersemester 2018

Model Predictive Control

Wintersemester 2017/18

Praktikum Konzepte der Regelungstechnik
Wahrscheinlichkeitstheorie und Statistik I

Sommersemester 2017

Model Predictive Control
Wahrscheinlichkeitstheorie und Statistik II

Thesis Supervision
  • Numerical verification of incremental stability for nonlinear systems, Master Thesis
  • Stability and performance in transient average constrained economic MPC without terminal constraints, Student Thesis, available online
  • A Computationally Efficient Robust Adaptive Nonlinear Model Predictive Control Scheme, Master Thesis (supervised together with Matthias A. Müller. Raffaelle Soloperto)
  • Learning-based Approximate Model Predictive Control with Guarantees - Joining Neural Networks with Recent Robust MPC, Master Thesis (supervised together with Sebastian Trimpe), available online
  • Complexity and conservatism in linear robust adaptive Model Predictive Control, Master Thesis
  • Learning an Approximate Model Predictive Controller with Guarantees, Student Thesis (supervised together with Sebastian Trimpe), available online
  • Indefinite linear quadratic optimal control: periodic dissipativity and turnpike properties, Master Thesis (supervised together with Matthias Müller) available online
  • Comparison of MPC Topologies - A case study, Master Thesis (supervised together with Phillip Wenzelburger)
  • Stochastic and Robust Model Predictive Control with Model Mismatch Learning for Autonomous Vehicles, Masterthesis (external supervision)
  • Theoretical contributions to a safety concept in automated driving - An invariant set approach, Masterthesis (external supervision)
  • Model Predictive Control of autonomous Vehicles at the Limits of Vehicle Dynamics, Masterthesis (external supervision)
  • Prädiktive Längstrajektorienregelung für das autonome Fahren, Masterthesis (external supervision)
  • Nonlinear Model Predictive Control in application to collision avoidant Robotic Manipulation, Masterthesis (external supervision)
01/2019-04/2019 Research visit with Dr. Andrew McDaid, MDT Group, University of Auckland, Newzealand.
2018 Outstanding Reviewer 2018 for Control Systems Letters (L-CSS) (14 outstanding Reviewer from approximate 500 Reviewer).
Seit 02/2017 Wissenschaftlicher Mitarbeiter am Institut für Systemtheorie und Regelungstechnik, Universität Stuttgart.
03/2016−08/2016 Praktikum bei Robert Bosch GmbH, CR/AEH3, Renningen.
 10/2012−01/2017

Studium der Technischen Kybernetik an der Universität Stuttgart

  • Masterarbeit: 01/2017
    "Distributed Economic Model Predictive Control under inexact minimization with application to Power Systems "
  • Bachelorarbeit: 01/2015
    "Entwurf und Implementierung eines Regelalgorithmus zur Berechnung eines optimalen Sicherheitskonzepts für den ES2 Dummy im Seitencrash"
10/2015-01/2017 HiWi am Institut für Systemtheorie und Regelungstechnik, Universität Stuttgart.
04/2013-09/2015 HiWi am Institut für Technische und Numerische Mechanik, Universität Stuttgart.
06/2012 Abitur am Erich Kästner Gymansium, Eislingen.
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