{"id":"https://openalex.org/W4315488792","doi":"https://doi.org/10.1109/cdc51059.2022.9992944","title":"Recursively Feasible Model Predictive Control using Latent Force Models Applied to Disturbed Quadcopters","display_name":"Recursively Feasible Model Predictive Control using Latent Force Models Applied to Disturbed Quadcopters","publication_year":2022,"publication_date":"2022-12-06","ids":{"openalex":"https://openalex.org/W4315488792","doi":"https://doi.org/10.1109/cdc51059.2022.9992944"},"language":"en","primary_location":{"id":"doi:10.1109/cdc51059.2022.9992944","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/cdc51059.2022.9992944","pdf_url":null,"source":{"id":"https://openalex.org/S4363607710","display_name":"2022 IEEE 61st Conference on Decision and Control (CDC)","issn_l":null,"issn":null,"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":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE 61st Conference on Decision and Control (CDC)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5024678106","display_name":"Jonas Gruner","orcid":"https://orcid.org/0009-0003-2524-4191"},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Jonas Gruner","raw_affiliation_strings":["Universität zu Lübeck,Institute for Electrical Engineering in Medicine,Lübeck,Germany"],"affiliations":[{"raw_affiliation_string":"Universität zu Lübeck,Institute for Electrical Engineering in Medicine,Lübeck,Germany","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5079232900","display_name":"Niklas Schmid","orcid":"https://orcid.org/0000-0002-8068-6967"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Niklas Schmid","raw_affiliation_strings":["ETH Zürich,Automatic Control Laboratory,Zürich,Switzerland"],"affiliations":[{"raw_affiliation_string":"ETH Zürich,Automatic Control Laboratory,Zürich,Switzerland","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5076792703","display_name":"Georg M\u00e4nnel","orcid":"https://orcid.org/0000-0003-3508-9052"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Georg Mannel","raw_affiliation_strings":["Universität zu Lübeck,Institute for Electrical Engineering in Medicine,Lübeck,Germany"],"affiliations":[{"raw_affiliation_string":"Universität zu Lübeck,Institute for Electrical Engineering in Medicine,Lübeck,Germany","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5060642761","display_name":"Jan Grasshof","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Jan Grasshof","raw_affiliation_strings":["Universität zu Lübeck,Institute for Electrical Engineering in Medicine,Lübeck,Germany"],"affiliations":[{"raw_affiliation_string":"Universität zu Lübeck,Institute for Electrical Engineering in Medicine,Lübeck,Germany","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5086790283","display_name":"Hossam S. Abbas","orcid":"https://orcid.org/0000-0002-5264-5906"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Hossam S. Abbas","raw_affiliation_strings":["Universität zu Lübeck,Institute for Electrical Engineering in Medicine,Lübeck,Germany"],"affiliations":[{"raw_affiliation_string":"Universität zu Lübeck,Institute for Electrical Engineering in Medicine,Lübeck,Germany","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5011641162","display_name":"Philipp Rostalski","orcid":"https://orcid.org/0000-0003-0326-168X"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Philipp Rostalski","raw_affiliation_strings":["Universität zu Lübeck,Institute for Electrical Engineering in Medicine,Lübeck,Germany"],"affiliations":[{"raw_affiliation_string":"Universität zu Lübeck,Institute for Electrical Engineering in Medicine,Lübeck,Germany","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5024678106"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.0587,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.7702662,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":95},"biblio":{"volume":"14","issue":null,"first_page":"1013","last_page":"1020"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10791","display_name":"Advanced Control Systems Optimization","score":0.9998999834060669,"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":0.9998999834060669,"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/T10876","display_name":"Fault Detection and Control Systems","score":0.9990000128746033,"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/T11236","display_name":"Control Systems and Identification","score":0.9973000288009644,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.794249415397644},{"id":"https://openalex.org/keywords/model-predictive-control","display_name":"Model predictive control","score":0.7802649736404419},{"id":"https://openalex.org/keywords/probabilistic-logic","display_name":"Probabilistic logic","score":0.5625081658363342},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5429127216339111},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.535374104976654},{"id":"https://openalex.org/keywords/gaussian-process","display_name":"Gaussian process","score":0.5161996483802795},{"id":"https://openalex.org/keywords/state-space","display_name":"State space","score":0.5010857582092285},{"id":"https://openalex.org/keywords/parametric-statistics","display_name":"Parametric statistics","score":0.4824955463409424},{"id":"https://openalex.org/keywords/state-space-representation","display_name":"State-space representation","score":0.4589278995990753},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.4466627836227417},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.34704554080963135},{"id":"https://openalex.org/keywords/gaussian","display_name":"Gaussian","score":0.34083136916160583},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.30495601892471313},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.14866903424263},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.12845295667648315}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.794249415397644},{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.7802649736404419},{"id":"https://openalex.org/C49937458","wikidata":"https://www.wikidata.org/wiki/Q2599292","display_name":"Probabilistic logic","level":2,"score":0.5625081658363342},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5429127216339111},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.535374104976654},{"id":"https://openalex.org/C61326573","wikidata":"https://www.wikidata.org/wiki/Q1496376","display_name":"Gaussian process","level":3,"score":0.5161996483802795},{"id":"https://openalex.org/C72434380","wikidata":"https://www.wikidata.org/wiki/Q230930","display_name":"State space","level":2,"score":0.5010857582092285},{"id":"https://openalex.org/C117251300","wikidata":"https://www.wikidata.org/wiki/Q1849855","display_name":"Parametric statistics","level":2,"score":0.4824955463409424},{"id":"https://openalex.org/C52918065","wikidata":"https://www.wikidata.org/wiki/Q230945","display_name":"State-space representation","level":2,"score":0.4589278995990753},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.4466627836227417},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.34704554080963135},{"id":"https://openalex.org/C163716315","wikidata":"https://www.wikidata.org/wiki/Q901177","display_name":"Gaussian","level":2,"score":0.34083136916160583},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.30495601892471313},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.14866903424263},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.12845295667648315},{"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/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/cdc51059.2022.9992944","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/cdc51059.2022.9992944","pdf_url":null,"source":{"id":"https://openalex.org/S4363607710","display_name":"2022 IEEE 61st Conference on Decision and Control (CDC)","issn_l":null,"issn":null,"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":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE 61st Conference on Decision and Control (CDC)","raw_type":"proceedings-article"},{"id":"pmh:oai:null:publica/446243","is_oa":false,"landing_page_url":"https://publica.fraunhofer.de/handle/publica/446243","pdf_url":null,"source":{"id":"https://openalex.org/S4306400318","display_name":"Fraunhofer-Publica (Fraunhofer-Gesellschaft)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4923324","host_organization_name":"Fraunhofer-Gesellschaft","host_organization_lineage":["https://openalex.org/I4923324"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"conference paper"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320311649","display_name":"Ministry of Education","ror":"https://ror.org/036nq5137"},{"id":"https://openalex.org/F4320335322","display_name":"European Regional Development Fund","ror":"https://ror.org/00k4n6c32"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":22,"referenced_works":["https://openalex.org/W136174036","https://openalex.org/W583311967","https://openalex.org/W1972537245","https://openalex.org/W1981723834","https://openalex.org/W2038582600","https://openalex.org/W2094227853","https://openalex.org/W2618092744","https://openalex.org/W2619551236","https://openalex.org/W2804964303","https://openalex.org/W2963538546","https://openalex.org/W2992833799","https://openalex.org/W3011901602","https://openalex.org/W3037742481","https://openalex.org/W3105252106","https://openalex.org/W4210529242","https://openalex.org/W4211049957","https://openalex.org/W4246038204","https://openalex.org/W4255583100","https://openalex.org/W4294691749","https://openalex.org/W4312732041","https://openalex.org/W6605568159","https://openalex.org/W6800907191"],"related_works":["https://openalex.org/W2013610941","https://openalex.org/W2579634771","https://openalex.org/W3013517953","https://openalex.org/W1560664277","https://openalex.org/W2756401664","https://openalex.org/W2338837772","https://openalex.org/W2953364237","https://openalex.org/W2547148345","https://openalex.org/W1486719010","https://openalex.org/W4300623128"],"abstract_inverted_index":{"In":[0],"this":[1],"work,":[2],"recursively":[3],"feasible":[4],"model":[5,30,38,45,61],"predictive":[6],"control":[7],"(MPC)":[8],"is":[9,89,126,145],"considered":[10],"for":[11,23],"systems":[12],"under":[13,132],"additive":[14,26,133],"disturbances.":[15,134],"Combining":[16],"a":[17,37,129],"nonparametric":[18],"Gaussian":[19],"Process":[20],"(GP)":[21],"prior":[22],"modeling":[24],"the":[25,29,32,50,64,67,83,93,97,106,113,138,142],"disturbance":[27,107],"with":[28],"of":[31,82,96,112,137],"undisturbed":[33],"system":[34],"results":[35],"in":[36,66],"structure":[39],"referred":[40],"to":[41,109,147],"as":[42,63],"latent":[43],"force":[44],"(LFM).":[46],"Using":[47],"spectral":[48],"factorization,":[49],"whole":[51],"LFM":[52,84,102],"can":[53,116],"be":[54],"represented":[55],"by":[56,74,91],"an":[57],"equivalent/approximate":[58],"stochastic":[59],"state-space":[60],"used":[62],"predictor":[65],"MPC":[68,98,124],"formulation.":[69],"Chance":[70],"constraints":[71],"are":[72],"incorporated":[73],"constraint":[75],"tightening":[76],"using":[77,141],"so-called":[78],"probabilistic":[79],"reachable":[80],"sets":[81],"state":[85],"and":[86],"recursive":[87],"feasibility":[88],"guaranteed":[90],"optimizing":[92],"initial":[94],"value":[95],"predicted":[99],"trajectory.":[100],"The":[101,121,135],"formulation":[103],"allows":[104],"leveraging":[105],"information":[108],"all":[110],"components":[111],"MPC,":[114],"which":[115],"significantly":[117],"enhance":[118],"its":[119],"performance.":[120],"proposed":[122],"LFM-based":[123],"approach":[125],"demonstrated":[127],"on":[128],"simulated":[130],"quadcopter":[131],"performance":[136],"closed-loop":[139],"controller":[140],"LFM-state-space":[143],"reformulation":[144],"compared":[146],"standard":[148],"MPC.":[149]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1}],"updated_date":"2026-04-05T17:49:38.594831","created_date":"2025-10-10T00:00:00"}