Raphael Dyrska

Raphael Dyrska
Ruhr-Universität Bochum | RUB · Institut Product and Service Engineering

Master of Science

About

9
Publications
189
Reads
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18
Citations
Citations since 2017
9 Research Items
18 Citations
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Publications

Publications (9)
Article
Full-text available
The cooperation of Unmanned Aerial Vehicles (UAVs) and Mobile Robot Manipulators (MRMs) offers enormous possibilities to modern industry. It paves the way for logistics, cooperative assembling or manipulation and will provide even more flexibility and autonomy to today’s manufacturing processes. Currently, some systematic literature reviews exist t...
Article
We accelerate nonlinear model predictive control with an approach that successively detects and removes inactive constraints from the optimal control problem. In every time step and for every constraint, the cost function value is compared to a bound that can be calculated offline. If the current cost function value drops below one of these bounds,...
Preprint
We present an approach for accelerating nonlinear model predictive control. If the current optimal input signal is saturated, also the optimal signals in subsequent time steps often are. We propose to use the open-loop optimal input signals whenever the first and some subsequent input signals are saturated. We only solve the next optimal control pr...
Preprint
In model predictive control (MPC), an optimal control problem (OCP) is solved for the current state and the first input of the solution, the optimal feedback law, is applied to the system. This procedure requires to solve the OCP in every time step. Recently, a new approach was suggested for linear MPC. The parametric solution of a linear quadratic...
Article
Explicit MPC represents one of the fastest ways of real-time MPC implementation. As the explicit MPC policy is optimization-free in real-time control, its efficiency is determined by solving a point location problem. This paper proposes the novel concept of accelerating explicit MPC that significantly speeds up the real-time evaluation of the point...

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