{"id":"https://openalex.org/W1990473843","doi":"https://doi.org/10.1109/cca.2010.5611241","title":"Nonlinear Model Predictive Control considering stochastic and systematic uncertainties with sets of densities","display_name":"Nonlinear Model Predictive Control considering stochastic and systematic uncertainties with sets of densities","publication_year":2010,"publication_date":"2010-09-01","ids":{"openalex":"https://openalex.org/W1990473843","doi":"https://doi.org/10.1109/cca.2010.5611241","mag":"1990473843"},"language":"en","primary_location":{"id":"doi:10.1109/cca.2010.5611241","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cca.2010.5611241","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2010 IEEE International Conference on Control Applications","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.5445/ir/1000035048","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5057226132","display_name":"Achim Hekler","orcid":"https://orcid.org/0000-0002-4974-2457"},"institutions":[{"id":"https://openalex.org/I102335020","display_name":"Karlsruhe Institute of Technology","ror":"https://ror.org/04t3en479","country_code":"DE","type":"education","lineage":["https://openalex.org/I102335020","https://openalex.org/I1305996414"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Achim Hekler","raw_affiliation_strings":["Intelligent Sensor Actuator Systems Laboratory (ISAS), Karlsruhe Institute of Technology, Germany","[Intelligent Sensor-Actuator-Systems Laboratory (ISAS), Karlsruhe Institute of Technology (KIT), Germany]"],"affiliations":[{"raw_affiliation_string":"Intelligent Sensor Actuator Systems Laboratory (ISAS), Karlsruhe Institute of Technology, Germany","institution_ids":["https://openalex.org/I102335020"]},{"raw_affiliation_string":"[Intelligent Sensor-Actuator-Systems Laboratory (ISAS), Karlsruhe Institute of Technology (KIT), Germany]","institution_ids":["https://openalex.org/I102335020"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5109045985","display_name":"Daniel Lyons","orcid":null},"institutions":[{"id":"https://openalex.org/I102335020","display_name":"Karlsruhe Institute of Technology","ror":"https://ror.org/04t3en479","country_code":"DE","type":"education","lineage":["https://openalex.org/I102335020","https://openalex.org/I1305996414"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Daniel Lyons","raw_affiliation_strings":["Intelligent Sensor Actuator Systems Laboratory (ISAS), Karlsruhe Institute of Technology, Germany","[Intelligent Sensor-Actuator-Systems Laboratory (ISAS), Karlsruhe Institute of Technology (KIT), Germany]"],"affiliations":[{"raw_affiliation_string":"Intelligent Sensor Actuator Systems Laboratory (ISAS), Karlsruhe Institute of Technology, Germany","institution_ids":["https://openalex.org/I102335020"]},{"raw_affiliation_string":"[Intelligent Sensor-Actuator-Systems Laboratory (ISAS), Karlsruhe Institute of Technology (KIT), Germany]","institution_ids":["https://openalex.org/I102335020"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5080767310","display_name":"Benjamin Noack","orcid":"https://orcid.org/0000-0001-8996-5738"},"institutions":[{"id":"https://openalex.org/I102335020","display_name":"Karlsruhe Institute of Technology","ror":"https://ror.org/04t3en479","country_code":"DE","type":"education","lineage":["https://openalex.org/I102335020","https://openalex.org/I1305996414"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Benjamin Noack","raw_affiliation_strings":["Intelligent Sensor Actuator Systems Laboratory (ISAS), Karlsruhe Institute of Technology, Germany","[Intelligent Sensor-Actuator-Systems Laboratory (ISAS), Karlsruhe Institute of Technology (KIT), Germany]"],"affiliations":[{"raw_affiliation_string":"Intelligent Sensor Actuator Systems Laboratory (ISAS), Karlsruhe Institute of Technology, Germany","institution_ids":["https://openalex.org/I102335020"]},{"raw_affiliation_string":"[Intelligent Sensor-Actuator-Systems Laboratory (ISAS), Karlsruhe Institute of Technology (KIT), Germany]","institution_ids":["https://openalex.org/I102335020"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5055331421","display_name":"Uwe D. Hanebeck","orcid":"https://orcid.org/0000-0001-9870-2331"},"institutions":[{"id":"https://openalex.org/I102335020","display_name":"Karlsruhe Institute of Technology","ror":"https://ror.org/04t3en479","country_code":"DE","type":"education","lineage":["https://openalex.org/I102335020","https://openalex.org/I1305996414"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Uwe D. Hanebeck","raw_affiliation_strings":["Intelligent Sensor Actuator Systems Laboratory (ISAS), Karlsruhe Institute of Technology, Germany","[Intelligent Sensor-Actuator-Systems Laboratory (ISAS), Karlsruhe Institute of Technology (KIT), Germany]"],"affiliations":[{"raw_affiliation_string":"Intelligent Sensor Actuator Systems Laboratory (ISAS), Karlsruhe Institute of Technology, Germany","institution_ids":["https://openalex.org/I102335020"]},{"raw_affiliation_string":"[Intelligent Sensor-Actuator-Systems Laboratory (ISAS), Karlsruhe Institute of Technology (KIT), Germany]","institution_ids":["https://openalex.org/I102335020"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5057226132"],"corresponding_institution_ids":["https://openalex.org/I102335020"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.06685329,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":94},"biblio":{"volume":"1","issue":null,"first_page":"1337","last_page":"1342"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10791","display_name":"Advanced Control Systems Optimization","score":0.9994000196456909,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10791","display_name":"Advanced Control Systems Optimization","score":0.9994000196456909,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T12810","display_name":"Real-time simulation and control systems","score":0.9922000169754028,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10621","display_name":"Gene Regulatory Network Analysis","score":0.9908000230789185,"subfield":{"id":"https://openalex.org/subfields/1312","display_name":"Molecular Biology"},"field":{"id":"https://openalex.org/fields/13","display_name":"Biochemistry, Genetics and Molecular Biology"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/model-predictive-control","display_name":"Model predictive control","score":0.8577749729156494},{"id":"https://openalex.org/keywords/generalization","display_name":"Generalization","score":0.7286708354949951},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.6964274644851685},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6195241212844849},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5701814889907837},{"id":"https://openalex.org/keywords/bounded-function","display_name":"Bounded function","score":0.4805355668067932},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.48021015524864197},{"id":"https://openalex.org/keywords/nonlinear-model","display_name":"Nonlinear model","score":0.4530498683452606},{"id":"https://openalex.org/keywords/stochastic-modelling","display_name":"Stochastic modelling","score":0.44320008158683777},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.3206409513950348},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.27268850803375244},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.24219480156898499},{"id":"https://openalex.org/keywords/statistics","display_name":"Statistics","score":0.07546401023864746}],"concepts":[{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.8577749729156494},{"id":"https://openalex.org/C177148314","wikidata":"https://www.wikidata.org/wiki/Q170084","display_name":"Generalization","level":2,"score":0.7286708354949951},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.6964274644851685},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6195241212844849},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5701814889907837},{"id":"https://openalex.org/C34388435","wikidata":"https://www.wikidata.org/wiki/Q2267362","display_name":"Bounded function","level":2,"score":0.4805355668067932},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.48021015524864197},{"id":"https://openalex.org/C2984755018","wikidata":"https://www.wikidata.org/wiki/Q17118374","display_name":"Nonlinear model","level":3,"score":0.4530498683452606},{"id":"https://openalex.org/C127491075","wikidata":"https://www.wikidata.org/wiki/Q7617825","display_name":"Stochastic modelling","level":2,"score":0.44320008158683777},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.3206409513950348},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.27268850803375244},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.24219480156898499},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.07546401023864746},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/cca.2010.5611241","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cca.2010.5611241","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2010 IEEE International Conference on Control Applications","raw_type":"proceedings-article"},{"id":"pmh:oai:EVASTAR-Karlsruhe.de:1000035048","is_oa":false,"landing_page_url":"https://publikationen.bibliothek.kit.edu/1000035048","pdf_url":null,"source":{"id":"https://openalex.org/S4306401992","display_name":"Repository KITopen (Karlsruhe Institute of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I102335020","host_organization_name":"Karlsruhe Institute of Technology","host_organization_lineage":["https://openalex.org/I102335020"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"","raw_type":"doc-type:conferenceObject"},{"id":"doi:10.5445/ir/1000035048","is_oa":true,"landing_page_url":"https://doi.org/10.5445/ir/1000035048","pdf_url":null,"source":{"id":"https://openalex.org/S7407052948","display_name":"KITopen","issn_l":null,"issn":[],"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article-journal"}],"best_oa_location":{"id":"doi:10.5445/ir/1000035048","is_oa":true,"landing_page_url":"https://doi.org/10.5445/ir/1000035048","pdf_url":null,"source":{"id":"https://openalex.org/S7407052948","display_name":"KITopen","issn_l":null,"issn":[],"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"article-journal"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G3634518361","display_name":null,"funder_award_id":"GRK 1194","funder_id":"https://openalex.org/F4320320879","funder_display_name":"Deutsche Forschungsgemeinschaft"},{"id":"https://openalex.org/G6052429835","display_name":null,"funder_award_id":"(DFG)","funder_id":"https://openalex.org/F4320320879","funder_display_name":"Deutsche Forschungsgemeinschaft"}],"funders":[{"id":"https://openalex.org/F4320320879","display_name":"Deutsche Forschungsgemeinschaft","ror":"https://ror.org/018mejw64"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":29,"referenced_works":["https://openalex.org/W121509404","https://openalex.org/W292508636","https://openalex.org/W578614108","https://openalex.org/W1494614627","https://openalex.org/W1963805330","https://openalex.org/W2001099320","https://openalex.org/W2001898391","https://openalex.org/W2023315473","https://openalex.org/W2098432798","https://openalex.org/W2104795728","https://openalex.org/W2122542721","https://openalex.org/W2127520982","https://openalex.org/W2151548885","https://openalex.org/W2157450192","https://openalex.org/W2164957979","https://openalex.org/W2170594262","https://openalex.org/W2171277949","https://openalex.org/W2172280408","https://openalex.org/W2343385342","https://openalex.org/W3102923851","https://openalex.org/W4285719527","https://openalex.org/W6604581042","https://openalex.org/W6605058021","https://openalex.org/W6616598529","https://openalex.org/W6629616394","https://openalex.org/W6674995601","https://openalex.org/W6675857254","https://openalex.org/W6704594760","https://openalex.org/W6841545689"],"related_works":["https://openalex.org/W1779399219","https://openalex.org/W648378158","https://openalex.org/W2143511391","https://openalex.org/W1981727740","https://openalex.org/W4251946813","https://openalex.org/W2885820669","https://openalex.org/W1839440842","https://openalex.org/W2368407738","https://openalex.org/W4312206415","https://openalex.org/W2380503381"],"abstract_inverted_index":{"In":[0,56,117],"Model":[1,64,97],"Predictive":[2,65,98],"Control,":[3],"the":[4,12,15,95],"quality":[5],"of":[6,14,75,94,105,114,132],"control":[7,125],"is":[8,24,32,44,109,126],"highly":[9],"dependent":[10],"upon":[11],"model":[13,23,53],"system":[16],"under":[17],"control.":[18],"Therefore,":[19],"a":[20,61,91,120],"precise":[21],"deterministic":[22],"desirable.":[25],"However,":[26],"in":[27,137],"real-world":[28,138],"applications,":[29],"modeling":[30],"accuracy":[31],"typically":[33],"limited":[34],"and":[35,51,123,130],"systems":[36,69],"are":[37,78,135],"generally":[38],"affected":[39,70],"by":[40,71,111],"disturbances.":[41],"Hence,":[42],"it":[43],"important":[45],"to":[46,52],"systematically":[47],"consider":[48],"these":[49],"uncertainties":[50,106],"them":[54],"correctly.":[55],"this":[57],"paper,":[58],"we":[59],"present":[60],"novel":[62],"Nonlinear":[63,96],"Control":[66,99],"method":[67],"for":[68,101],"two":[72],"different":[73],"types":[74,104],"perturbations":[76],"that":[77],"modeled":[79],"as":[80],"being":[81],"either":[82],"stochastic":[83],"or":[84],"unknown":[85],"but":[86],"bounded":[87],"quantities.":[88],"We":[89],"derive":[90],"formal":[92],"generalization":[93],"principle":[100],"considering":[102],"both":[103],"simultaneously,":[107],"which":[108],"achieved":[110],"using":[112],"sets":[113],"probability":[115],"densities.":[116],"doing":[118],"so,":[119],"more":[121],"robust":[122],"reliable":[124],"obtained.":[127],"The":[128],"capabilities":[129],"benefits":[131],"our":[133],"approach":[134],"demonstrated":[136],"experiments":[139],"with":[140],"miniature":[141],"walking":[142],"robots.":[143]},"counts_by_year":[{"year":2014,"cited_by_count":1}],"updated_date":"2026-04-10T15:06:20.359241","created_date":"2025-10-10T00:00:00"}