Raphael Dyrska
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View article: What is buzzing around me? Assessing the influence of indoor unmanned aerial vehicles on human cognitive performance and well-being
What is buzzing around me? Assessing the influence of indoor unmanned aerial vehicles on human cognitive performance and well-being Open
Unmanned Aerial Vehicles (UAVs) are becoming increasingly common in both everyday life and professional contexts. The present study investigates the human factors that have to be considered in the adoption of UAVs in practice. In a one-fac…
View article: Assessing EKF-based Orientation Uncertainties and its Impact on the Channels of UAV-mounted RIS
Assessing EKF-based Orientation Uncertainties and its Impact on the Channels of UAV-mounted RIS Open
Reconfigurable intelligent surfaces (RIS) are a technology foreseen to play an important role in sixth-generation (6G) wireless networks. By manipulating and reflecting electromagnetic waves using adjustable reflecting elements, RIS can ac…
View article: Properties of Nonlinear MPC Solutions Illustrated with a Simple Example
Properties of Nonlinear MPC Solutions Illustrated with a Simple Example Open
We provide examples on how the non-convexity of the underlying optimization problem can affect the solution to nonlinear model predictive control (NMPC) problems. Using numerical simulations, we show different features of NMPC solutions th…
View article: Active set prediction for nonlinear model predictive control on a shrinking horizon based on the principle of optimality
Active set prediction for nonlinear model predictive control on a shrinking horizon based on the principle of optimality Open
Summary We provide insights into the structure of the set of active constraints arising for optimal solutions to nonlinear model predictive control problems along a shrinking horizon. The principle of optimality combined with a particular …
View article: Embedded Implementation of a Neural Network emulating Nonlinear MPC in a process control application
Embedded Implementation of a Neural Network emulating Nonlinear MPC in a process control application Open
We present the design, training, and implementation of a nonlinear autoregressive neural network for the control of a multi-input, multi-output hydraulic plant. The network mimics the optimal control signals of a nonlinear model predictive…
View article: Simple Controller Tuning for Unmanned Aerial Vehicles using Governors
Simple Controller Tuning for Unmanned Aerial Vehicles using Governors Open
A simple governor-based controller tuning is implemented and tested for the application to unmanned aerial vehicles (UAVs). We show that the governor-based tuning approach enables the high-level tuning of the existing controller of the UAV…
View article: Flying Intelligent Surfaces: Joint Adjustment of Position and Configuration for UAV-Mounted RIS
Flying Intelligent Surfaces: Joint Adjustment of Position and Configuration for UAV-Mounted RIS Open
Reconfigurable intelligent surfaces (RIS) are a technology expected to meet the demanding objectives of future wireless networks by manipulating and reflecting electromagnetic waves using real-time adjustable elements to improve communicat…
View article: Heat exchanger control using model predictive control with constraint removal
Heat exchanger control using model predictive control with constraint removal Open
Climate change enforces the implementation of sustainable industrial production with a special focus on pollution reduction, resource management, and energy savings. These goals are addressed by designing advanced control methods using the…
View article: Systematic literature review of applications and usage potentials for the combination of unmanned aerial vehicles and mobile robot manipulators in production systems
Systematic literature review of applications and usage potentials for the combination of unmanned aerial vehicles and mobile robot manipulators in production systems Open
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 fle…
View article: State space sets with common optimal feedback laws for nonlinear MPC
State space sets with common optimal feedback laws for nonlinear MPC Open
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 …
View article: Accelerating Nonlinear Model Predictive Control by Constraint Removal
Accelerating Nonlinear Model Predictive Control by Constraint Removal Open
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…
View article: Accelerated Nonlinear Model Predictive Control by Exploiting Saturation
Accelerated Nonlinear Model Predictive Control by Exploiting Saturation Open
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 signal…
View article: Accelerating Explicit Model Predictive Control by Constraint Sorting
Accelerating Explicit Model Predictive Control by Constraint Sorting Open
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 th…