Contact
+49 711 685 66312
+49 711 685 67735
Email
Pfaffenwaldring 9
70569 Stuttgart
Germany
Room: 3.234
Office Hours
On appointment
Subject
I'm working in the field of Model Predictive Control (MPC), in particular considering systems subject to significant stochastic uncertainty. Currently, the focus lies on designing new control schemes enforcing probabilistic constraints on the system despite being subject to possibly large disturbances and parametric uncertainties, which are modeled, for example, by a known Gaussian distribution. To this end, the stochastic effects on the predicted future evolution of the system are considered offline, in order to construct a simpler deterministic optimization problem for fast online operation. We have introduced a novel initialization scheme to address the feasibility issues inherited with the realized violations a probabilistic interpretation of constraints allows. Besides that, I also work on nonlinear extensions to stochastic model predictive control by leveraging system properties, like incremental stabilizability. Overall, my research heavily focuses on deriving rigorous guarantees for the developed model predictive control schemes.
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- H. Schlüter and F. Allgöwer, “Stochastic Model Predictive Control using Initial State and Variance Interpolation,” in Proc. 62nd IEEE Conference on Decision and Control (CDC), in Proc. 62nd IEEE Conference on Decision and Control (CDC). Singapore: IEEE, Dec. 2023. doi: 10.1109/CDC49753.2023.10383711.
- M. Zimmer et al., “In vivo Assessment of Shear Wave Propagation in Pennate Muscles using an Automatic Ultrasound Probe Alignment System,” IEEE Open Journal of Engineering in Medicine and Biology, pp. 1–9, Nov. 2023, doi: 10.1109/OJEMB.2023.3338090.
- Z. Ma, H. Schlüter, F. Berkel, T. Specker, and F. Allgöwer, “Recursive Feasibility and Stability for Stochastic MPC based on Polynomial Chaos,” in Proc. 12th IFAC Symp. Nonlinear Control Systems (NOLCOS), in Proc. 12th IFAC Symp. Nonlinear Control Systems (NOLCOS), vol. 56. Canberra, Australia: Elsevier, Jan. 2023, pp. 204–209. doi: 10.1016/j.ifacol.2023.02.035.
- H. Schlüter and F. Allgöwer, “Stochastic model predictive control using initial state optimization,” in Proc. 25th Int. Symp. Mathematical Theory of Networks and Systems (MTNS), in Proc. 25th Int. Symp. Mathematical Theory of Networks and Systems (MTNS), vol. 55. Bayreuth, Germany: Elsevier, Nov. 2022, pp. 454–459. doi: 10.1016/j.ifacol.2022.11.095.
- H. Schlüter, F. Solowjow, and S. Trimpe, “Event-triggered Learning for Linear Quadratic Control,” IEEE Transactions on Automatic Control, vol. 66, no. 10, Art. no. 10, Oct. 2020, doi: 10.1109/tac.2020.3030877.
- H. Schlüter and F. Allgöwer, “A Constraint-Tightening Approach to Nonlinear Stochastic Model Predictive Control under General Bounded Disturbances,” in Proc. 21th IFAC World Congress, in Proc. 21th IFAC World Congress, vol. 53. Berlin, Germany, Jul. 2020, pp. 7130–7135. doi: 10.1016/j.ifacol.2020.12.518.
- H. Schlüter, P. Schillinger, and M. Bürger, “On the Design of Penalty Structures for Minimum-Violation LTL Motion Planning,” in 2018 IEEE Conference on Decision and Control (CDC), in 2018 IEEE Conference on Decision and Control (CDC). Dec. 2018, pp. 4153–4158. doi: 10.1109/CDC.2018.8619148.
SS 2024 |
Projektwettbewerb: Einführung in die Regelungstechnik |
WS 2023 |
Einführung in die Regelungstechnik (Exercises) |
SS 2023 |
Projektwettbewerb: Einführung in die Regelungstechnik |
SS 2022 |
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WS 2021 |
Einführung in die Regelungstechnik (Exercises) |
SS 2021 |
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WS 2020 |
Einführung in die Regelungstechnik (Exercises) |
SS 2020 |
Proseminar Technische Kybernetik |
WS 2019 |
Einführung in die Regelungstechnik (Exercises) |
SS 2019 |
seit 05/2019 |
Research Assistant at the Institute for Systems Theory and Automatic Control, University of Stuttgart |
10/2016 − 04/2019 |
Master studies Engineering Cybernetics at the University of Stuttgart Master thesis: "Event-Triggered Learning for Control" with Dr. Sebastian Trimpe at Intelligent Control Systems Group of the Max Planck Institute for Intelligent Systems. |
10/2017 − 03/2018 |
Internship at Bosch Center for Artificial Intelligence (BCAI), Robert Bosch GmbH, Renningen Topic: Minimum-Violation LTL Motion Planning (Publication: [DOI]) |
10/2013 − 11/2016 |
Bachelor studies Engineering Cybernetics at the University of Stuttgart Bachelor thesis: "3D-Mapping using Planar Surface SLAM on Mobile Robots" with Prof. Marc Toussaint at the Machine Learning & Robotics Lab of the Universität Stuttgart. |