K. Worthmann

Publications
Influence

Distributed and Decentralized Control of Residential Energy Systems Incorporating Battery Storage

K. Worthmann, Christopher M. Kellett, P. Braun, L. Grüne, S. Weller
Engineering, Computer Science
IEEE Transactions on Smart Grid
4 February 2015

The recent rapid uptake of residential solar photovoltaic installations provides many challenges for electricity distribution networks designed for one-way power flow. Expand

Analysis of unconstrained nonlinear MPC schemes with time varying control horizon

L. Grüne, J. Pannek, M. Seehafer, K. Worthmann
Mathematics, Computer Science
IEEE 51st IEEE Conference on Decision and Control…
13 June 2010

For nonlinear discrete time systems satisfying a controllability condition, we present a stability condition for model predictive control without stabilizing terminal constraints or costs. Expand

Stability and feasibility of state constrained MPC without stabilizing terminal constraints

A. Boccia, L. Grüne, K. Worthmann
Mathematics, Computer Science
Syst. Control. Lett.
30 July 2014

In this paper we investigate stability and recursive feasibility of a nonlinear receding horizon control scheme without terminal constraints and costs but imposing state and control constraints. Expand

A Distributed NMPC Scheme without Stabilizing Terminal Constraints

L. Grüne, K. Worthmann
Mathematics
2012

We consider a distributed NMPC scheme in which the individual systems are coupled via state constraints. In order to avoid violation of the constraints, the subsystems communicate their individual… Expand

Stability Analysis of Unconstrained Receding Horizon Control Schemes

K. Worthmann
Computer Science
2011

Quadratic costs do not always work in MPC

M. Müller, K. Worthmann
Mathematics, Computer Science
Autom.
1 August 2017

We show that MPC based on quadratic stage costs may fail, i.e., there does not exist a prediction horizon length such that a (controlled) equilibrium is asymptotically stable for the MPC closed loop. Expand

Hierarchical distributed ADMM for predictive control with applications in power networks

Philipp Braun, Philipp Braun, +4 authors K. Worthmann
Computer Science
30 March 2018

We propose a new Model Predictive Control (MPC) scheme based on the Alternating Direction Method of Multipliers (ADMM) for the predictive control of linear systems coupled in the objective function. Expand

An Exponential Turnpike Theorem for Dissipative Discrete Time Optimal Control Problems

T. Damm, L. Grüne, Marleen Stieler, K. Worthmann
Mathematics, Computer Science
SIAM J. Control. Optim.
12 June 2014

We investigate the exponential turnpike property for finite horizon undiscounted discrete time optimal control problems without any terminal constraints. Expand

Model Predictive Control of Nonholonomic Mobile Robots Without Stabilizing Constraints and Costs

K. Worthmann, Mohamed W. Mehrez, M. Zanon, George K. I. Mann, R. Gosine, M. Diehl
Engineering, Computer Science
IEEE Transactions on Control Systems Technology
1 July 2016

A model predictive control (MPC) scheme based on tailored nonquadratic stage cost is proposed to fulfill the regulation problem of unicycle nonholonomic mobile robots. Expand

A networked unconstrained nonlinear MPC scheme

L. Grüne, J. Pannek, K. Worthmann
Mathematics, Computer Science
European Control Conference (ECC)
1 August 2009

In this paper we propose an MPC scheme with a compensation mechanism for packet dropouts in a network connection between controller and actuator. Expand

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