Contact
+49 711 685 67751
+4971168567735
Email
Pfaffenwaldring 9
70569 Stuttgart
Germany
Room: 2.235
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, 2020. - 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, 2020. [Extended version] - 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. [Extended version] - 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 using model 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, to appear. [preprint] - J. Venkatasubramanian, J. Köhler, J. Berberich, F. Allgöwer.
Robust dual control based on gain scheduling
IEEE Conference on Decision and Control, 2020, to appear. [preprint]
- J. Berberich, J. Köhler, M. A. Müller, F. Allgöwer.
Robust constraint satisfaction in data-driven MPC
IEEE Conference on Decision and Control, 2020, to appear. [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. - 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 |
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Sommersemester 2019 |
Lecturer Model Predictive Control |
Wintersemester 2019 |
Einführung in die
Regelungstechnik
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Sommersemester 2018 |
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Wintersemester 2017/18 |
Praktikum
Konzepte der Regelungstechnik
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Sommersemester 2017 |
Model
Predictive Control
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Thesis Supervision
- Performance Guarantees in Data-Driven MPC without Terminal Ingredients, Master Thesis (supervised together with Julian Berberich)
- 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)
- Development of a path following controller for a full vehicle simulation model, 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
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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. |