Prof. Dr. Knut Graichen

2026

• Ullrich, L., Buchholz, M., Dietmayer, K., & Graichen, K. (2026). Toward Fully Autonomous Driving: AI, Challenges, Opportunities, and Needs. IEEE Access. https://doi.org/10.1109/ACCESS.2026.3659192

2025

• Conrad, P., Michalka, A., Beck, J., & Graichen, K. (2025). Nonlinear MPC for Stabilizing the Longitudinal Dynamics of a Highly Maneuverable Aircraft. In Proc. 2025 IEEE Aerospace Conference. Big Sky, Montana (USA).
• Conrad, P., Steuter, L., Pierer von Esch, M., Beck, J., & Graichen, K. (2025). Aerodynamic neural network modeling for gradient-based model predictive flight control. In Proc. 33rd Mediterranean Conference on Control and Automation (MED 2025).
• Dahlmann, J., Völz, A., & Graichen, K. (2025). Global motion planning for multi-trailer vehicles in partially structured environments. Journal of Intelligent & Robotic Systems, 111(4). https://doi.org/10.1007/s10846-025-02330-4
• Dio, M., Wahrburg, A., Enayati, N., Graichen, K., & Völz, A. (2025). Time-Optimal Path Parameterization with Viscous Friction and Jerk Constraints based on Reachability Analysis. In Proceedings 2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). Hangzhou, CN.
• Findeisen, R., Rose, A., Graichen, K., & Mönnigmann, M. (2025). Embedded Optimization in Control: An Introduction, Opportunities, and Challenges. In Zhengtao Ding (ed.) (Eds.), Encyclopedia of Systems and Control Engineering. (pp. 223–244). Elsevier.
• Goller, T., Hopf, V., Völz, A., & Graichen, K. (2025). Fault Handling in Robotic Manipulation Tasks for Model Predictive Interaction Control. IEEE Robotics and Automation Letters, 10(9), 9002-9009. https://doi.org/10.1109/LRA.2025.3592069
• Hartmann, P., & Graichen, K. (2025). Learning-based uncertainty-aware predictive control of truck-trailer systems in rough terrain. In Institute of Electrical and Electronics Engineers (IEEE) (Eds.), Proceedings of the 19th IEEE International Conference on Control & Automation (ICCA) (pp. 162-167). Tallinn (Estonia), EE.
• Herrmann-Wicklmayr, M., Wietzke, T., Graichen, K., & Flaßkamp, K. (2025). Considering multiple objectives in model predictive control for building energy systems. In Proceedings 33rd Mediterranean Conference on Control and Automation (MED 2025) (pp. 502-507). Tangier, Morocco, MA.
• Kißkalt, J., Michalka, A., Strohmeyer, C., Horn, M., & Graichen, K. (2025). Estimation of input rotation speed in gauge-sensorized strain wave gears. In Proceedings of the 2025 IEEE Conference on Control Technology and Applications (CCTA) (pp. 457-463). San Diego (USA).
• Kißkalt, J., Michalka, A., Strohmeyer, C., Horn, M., & Graichen, K. (2025). Model-based fault simulation and detection for gauge-sensorized strain wave gears. In IFAC PapersOnline (pp. 271 - 276). Vienna (Austria).
• Kowalewski, J., Lorenz, A., Thomas, F., Valenzuela, R.A.A., & Graichen, K. (2025). Passivity-Based Robust Stability Analysis of the Converter–Grid Interaction and Passivity-Shaping Controller Design. IET Generation Transmission & Distribution, 19(1). https://doi.org/10.1049/gtd2.70090
• Kruse, T., Griebel, T., & Graichen, K. (2025). Adaptive Kalman filtering: Measurement and process noise covariance estimation using Kalman smoothing. IEEE Access, 13, 11863-11875. https://doi.org/10.1109/ACCESS.2025.3528348
• Landgraf, D., Völz, A., & Graichen, K. (2025). A software framework for stochastic model predictive control of nonlinear continuous-time systems (GRAMPC-S). Optimization and Engineering. https://doi.org/10.1007/s11081-025-10006-z
• Landgraf, D., Wietzke, T., & Graichen, K. (2025). Stochastic model predictive control with switched latent force models. European Journal of Control, 85, 101311. https://doi.org/10.1016/j.ejcon.2025.101366
• Pierer von Esch, M., Nistler, E., Völz, A., & Graichen, K. (2025). Sensitivity-based distributed NMPC: Experimental results for a levitating planar motion system. IEEE Transactions on Control Systems Technology, 33(3), 1110-1118. https://doi.org/10.1109/TCST.2025.3530165
• Pierer von Esch, M., Völz, A., & Graichen, K. (2025). A fixed-point iteration scheme for sensitivity-based distributed optimal control. IEEE Transactions on Automatic Control, 70(4), 2778-2785. https://doi.org/10.1109/TAC.2024.3505753
• Pierer von Esch, M., Völz, A., & Graichen, K. (2025). Asynchronous sensitivity-based distributed optimal control for nonlinear systems. In Proceedings 2025 American Control Conference (ACC) (pp. 835-842). Denver, CO (USA).
• Pierer von Esch, M., Völz, A., & Graichen, K. (2025). Sensitivity-Based Distributed Model Predictive Control for Nonlinear Systems under Inexact Optimization. Optimal Control Applications & Methods, 46, 1538-1558. https://doi.org/10.1002/oca.3277
• Rabenstein, G., Völz, A., & Graichen, K. (2025). Cable Manipulation for Contact Shaping Tasks using Elastic Rods. In Proceedings of the IEEE International Conference on Advanced Robotics and Mechatronics (ICARM). Portsmouth.
• Reinhard, J., Löhe, K., Kallabis, S., & Graichen, K. (2025). Dynamic Compensation of the Threading Speed Drop in Rolling Processes: Bayesian Optimization of the Roughing and Finishing Mill. Journal of Process Control, 156, 103579. https://doi.org/10.1016/j.jprocont.2025.103579
• Santer, P., Reinhard, J., Schindler, A., & Graichen, K. (2025). Detection of localized bearing faults in PMSMs by means of envelope analysis and wavelet packet transform using motor speed and current signals. Mechatronics, 106, 103294. https://doi.org/10.1016/j.mechatronics.2025.103294
• Santer, P., Völz, A., & Graichen, K. (2025). A Model Predictive Control Approach to Trajectory Tracking with Human-Robot Collision Avoidance. In Proceedings 9th IEEE Conference on Control Technology and Applications (CCTA). San Diego, US.
• Stecher, J., Kiltz, L., & Graichen, K. (2025). Generalized tolerance optimization for robust system design by adaptive learning of Gaussian processes. IEEE Access, 13, 68959-68983.
• Stecher, J., Kiltz, L., Ruess, N., & Graichen, K. (2025). Why engineers should care about semi-infinite programming: Nominal versus tolerance-aware geometry optimization of a proportional electromagnetic actuator. In Proceedings 10th IFAC Symposium on Mechatronic Systems & 14th Symposium on Robotics (MSROB 2025). Paris (France).
• Südhoff, T., Hsuan-Yang, S., Villwock, J., Bliatsiou, C., Topalovic, D., Graichen, K.,... Knorn, S. (2025). Closed-loop control of a liquid-liquid mixer using MPC and GPR-models. In Proceedings 33rd Mediterranean Conference on Control and Automation (MED 2025). Tangier, Morocco, MA.
• Ullrich, L., Buchholz, M., Dietmayer, K., & Graichen, K. (2025). AI safety assurance for automated vehicles: A survey on research, standardization, regulation. IEEE Transactions on Intelligent Vehicles, 10(10), 4784-4803. https://doi.org/10.1109/TIV.2024.3496797
• Ullrich, L., Buchholz, M., Dietmayer, K., & Graichen, K. (2025). Expanding the Classical V-Model for the Development of Complex Systems Incorporating AI. IEEE Transactions on Intelligent Vehicles, 10(3), 1790-1804. https://doi.org/10.1109/TIV.2024.3434515
• Ullrich, L., Buchholz, M., Petit, J., Dietmayer, K., & Graichen, K. (2025). A Concept for Efficient Scalability of Automated Driving Allowing for Technical, Legal, Cultural, and Ethical Differences. In Proceedings of the 2025 IEEE 28th International Conference on Intelligent Transportation Systems (ITSC). Gold Coast (Australia).
• Ullrich, L., Mujirishvili, Z., & Graichen, K. (2025). Enhancing system self-awareness and trust of AI: A case study in trajectory prediction and planning. In Proceedings of the 36th IEEE Intelligent Vehicles Symposium (IEEE IV 2025). Cluj-Napoca (Romania).
• Ullrich, L., Zimmer, W., Greer, R., Graichen, K., Knoll, A.C., & Trivedi, M. (2025). A New Perspective On AI Safety Through Control Theory Methodologies. IEEE Open Journal of Intelligent Transportation Systems, 6, 938-966. https://doi.org/10.1109/OJITS.2025.3585274
• Wietzke, T., & Graichen, K. (2025). Physics-informed sparse Gaussian processes for model predictive control in building energy systems. In IFAC-PapersOnLine (pp. 43-48). Vienna (Austria).
• Wietzke, T., Landgraf, D., & Graichen, K. (2025). Application of stochastic model predictive control for building energy systems using latent force models. At-Automatisierungstechnik, 73(6), 441-450. https://doi.org/10.1515/auto-2024-0160

2024

• Cherian, A.J., Michalka, A., Murray, K., Roell, G., & Graichen, K. (2024). Control approaches for operating point stabilization of microring resonator modulators under fast perturbations. In Graham T. Reed, Andrew P. Knights (Eds.), Proceedings Silicon Photonics XIX (pp. 128910D). SPIE.
• Conrad, P., & Graichen, K. (2024). A sensitivity-based approach to self-triggered nonlinear model predictive control. IEEE Access, 12, 153243-153252. https://doi.org/10.1109/ACCESS.2024.3480522
• Dahlmann, J., Graichen, K., & Völz, A. (2024). Ein Konzept zum automatisierten Rangieren von Fahrzeugen mit Anhängern.
• Dahlmann, J., Völz, A., Lukassek, M., & Graichen, K. (2024). Local predictive optimization of globally planned motions for truck-trailer systems. IEEE Transactions on Control Systems Technology, 32(5), 1555-1568. https://doi.org/10.1109/TCST.2023.3345169
• Dio, M., Graichen, K., & Völz, A. (2024). Time-Optimal Path Parameterization for Cooperative Multi-Arm Robotic Systems with Third-Order Constraints. In 2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (pp. 3043-3048). Abu Dhabi, AE: Institute of Electrical and Electronics Engineers Inc..
• Goller, T., Brohm, D., Völz, A., & Graichen, K. (2024). DMP-based path planning for model predictive interaction control. In Proceedings of the European Control Conference (pp. 128-133). Stockholm (Sweden).
• Goller, T., Völz, A., & Graichen, K. (2024). A Programming by Demonstration Approach for Robotic Manipulation with Model Predictive Interaction Control. In Proceedings of the 2024 IEEE Conference on Control Technology and Applications (CCTA) (pp. 799-804). Newcastle upon Tyne, United Kingdom.
• Goppelt-Schneider, F., Schmidt-Vollus, R., & Graichen, K. (2024). Trajectory tracking control for multilevel pressure boosting systems. In Proceedings of the 28th International Conference on System Theory, Control and Computing (ICSTCC). Sinaia, Romania.
• Kißkalt, J., Michalka, A., Strohmeyer, C., Horn, M., & Graichen, K. (2024). Fault detection in gauge-sensorized strain wave gears. In Proceedings of the European Control Conference (pp. 26-33). Stockholm (Sweden).
• Kögler, P., Dahlmann, J., & Graichen, K. (2024). Side-Slip Compensation in Model Predictive Path Following Control for General-n-Trailer Systems. In Proceedings of the 28th International Conference on System Theory, Control and Computing (ICSTCC). Sinaia, Romania.
• Lukassek, M., Dahlmann, J., Völz, A., & Graichen, K. (2024). Model predictive path-following control for truck–trailer systems with specific guidance points - Design and experimental validation. Mechatronics, 100, 103190. https://doi.org/10.1016/j.mechatronics.2024.103190
• Löhe, K., Reinhard, J., Petrasch, N., Kallabis, S., Graichen, K., & Mucha, M. (2024). Work Roll Speed Drop Compensation for Hot Strip Mills Reduces Drivetrain Wear and Increases Strip Quality. In AISTech 2024 — Proceedings of the Iron & Steel Technology Conference (pp. 1212-1223). Columbus, OH, US: Warrendale, PA: Association for Iron and Steel Technology.
• Pierer von Esch, M., Landgraf, D., Steffel, M., Völz, A., & Graichen, K. (2024). Distributed Stochastic Optimal Control of Nonlinear Systems based on ADMM. IEEE Control Systems Letters, 8, 424-429. https://doi.org/10.1109/LCSYS.2024.3393411
• Pierer von Esch, M., Völz, A., & Graichen, K. (2024). Asynchronous ADMM for Nonlinear Continuous-Time Systems. Optimal Control Applications & Methods.
• Pierer von Esch, M., Völz, A., & Graichen, K. (2024). Sensitivity-Based Distributed Model Predictive Control: Synchronous and Asynchronous Execution Compared to ADMM. At-Automatisierungstechnik, 72(2), 91-106. https://doi.org/10.1515/auto-2023-0050
• Rabenstein, G., Ullrich, L., & Graichen, K. (2024). Sampling for model predictive trajectory planning in autonomous driving using normalizing flows. In Proc. 35th IEEE Intelligent Vehicles Symposium (IEEE IV 2024) (pp. 2091-2096). Jeju Island (Korea).
• Reinhard, J., Löhe, K., & Graichen, K. (2024). Optimal dynamic current control for externally excited synchronous machines. In Proceedings of the 2024 IEEE Conference on Control Technology and Applications (CCTA) (pp. 146-152). Newcastle upon Tyne, UK.
• Reinhard, J., Löhe, K., Petrasch, N., Kallabis, S., & Graichen, K. (2024). Dynamic compensation of the threading speed drop in rolling processes. Journal of Process Control, 137, 103197. https://doi.org/10.1016/j.jprocont.2024.103197
• Schumann, M., & Graichen, K. (2024). PINN-based dynamical modeling and state estimation in power inverters. In Proceedings of the 2024 IEEE Conference on Control Technology and Applications (CCTA). Newcastle upon Tyne, UK.
• Snobar, F.S.N., Michalka, A., Horn, M., Strohmeyer, C., & Graichen, K. (2024). Sensitivity-based moving horizon estimation of road friction. In Proceedings of the European Control Conference (pp. 718-724). Stockholm (Sweden).
• Südhoff, T., Ebner, L., Schmidt, J., & Graichen, K. (2024). GP-based modeling for PSD control of emulsification processes. In Proceedings of the 28th International Conference on System Theory, Control and Computing (ICSTCC). Sinaia, Romania.
• Ullrich, L., McMaster, A., & Graichen, K. (2024). Transfer learning study of motion transformer based trajectory predictions. In Proc. 35th IEEE Intelligent Vehicles Symposium (IEEE IV 2024) (pp. 110-117). Jeju Island (Korea).
• Verhoolen, A., Geißelbrecht, M., Kadar, J., Preuster, P., Wasserscheid, P., & Graichen, K. (2024). Bayesian optimization of operating points of a continuous perhydro-dibenzyltoluene dehydrogenation reactor. International Journal of Energy Research. https://doi.org/10.1155/2024/5627453
• Wietzke, T., Gall, J., & Graichen, K. (2024). Occupancy Prediction for Building Energy Systems with Latent Force Models. Energy and Buildings, 113968. https://doi.org/10.1016/j.enbuild.2024.113968

2023

• Dio, M., Demir, O., Trachte, A., & Graichen, K. (2023). Safe active learning and probabilistic design of experiment for autonomous hydraulic excavators. In Proceedings of the 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (pp. 9685-9690). Detroit, US.
• Dio, M., Völz, A., & Graichen, K. (2023). Cooperative dual-arm control for heavy object manipulation based on hierarchical quadratic programming. In Proceedings of the 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (pp. 643-648). Detroit, US.
• Frank, R., Wittmann, L.-M., Kleffel, T., Roth, B., Graichen, K., & Drummer, D. (2023). Investigating the Integration of Nonwoven Carbon Fibers for Mechanical Enhancement in Compression Molded Fiber-Reinforced Polymer Bipolar Plates. Polymers, 15(19). https://doi.org/10.3390/polym15193891
• Geiling, J., Wagner, L., Auer, F., Ortner, F., Nuß, A., Seyfried, R.,... Preuster, P. (2023). Operational experience with a liquid organic hydrogen carrier (LOHC) system for bidirectional storage of electrical energy over 725 h. Journal of Energy Storage, 72. https://doi.org/10.1016/j.est.2023.108478
• Gold, T., Völz, A., & Graichen, K. (2023). Model predictive interaction control for robotic manipulation tasks. IEEE Transactions on Robotics, 39(1), 76-89. https://doi.org/10.1109/TRO.2022.3196607
• Harder, K., Niemeyer, J., Remele, J., & Graichen, K. (2023). Hierarchical model predictive control for an off-highway Diesel engine with SCR catalyst. International Journal of Engine Research. https://doi.org/10.1177/14680874221143600
• Hoffmann, M., Braun, S., Sura, O., Stelzig, M., Schüßler, C., Graichen, K., & Vossiek, M. (2023). Concept for an Automatic Annotation of Automotive Radar Data Using AI-segmented Aerial Camera Images. In Proceedings of the IEEE Radar Conference. Sydney, NSW, AU: Institute of Electrical and Electronics Engineers Inc..
• Kißkalt, J., Michalka, A., Strohmeyer, C., Horn, M., & Graichen, K. (2023). Simulation chain for sensorized strain wave gears. In Proc. 27th International Conference on System Theory, Control and Computing (ICSTCC) (pp. 467 - 473). Timisoara (Romania).
• Landgraf, D., Völz, A., Berkel, F., Schmidt, K., Specker, T., & Graichen, K. (2023). Probabilistic prediction methods for nonlinear systems with application to stochastic model predictive control. Annual Reviews in Control, 56, 100905. https://doi.org/10.1016/j.arcontrol.2023.100905
• Rohrmüller, M., Beckerle, P., Graichen, K., Malvezzi, M., & Pozzi, M. (2023). In-Hand Manipulation with Synergistic Actuated Robotic Hands: An MPC-Based Approach. In 2023 IEEE-RAS 22nd International Conference on Humanoid Robots (Humanoids). Austin, TX, US: IEEE Computer Society.
• Schumann, M., Ebersberger, S., & Graichen, K. (2023). Improved nonlinear estimation in thermal networks using machine learning. In Proc. IEEE International Conference on Mechatronics (ICM 2023, accepted). Loughborough (UK).
• Schumann, M., Ebersberger, S., & Graichen, K. (2023). Online learning and adaptation of nonlinear thermal networks for power inverters. In Proceedings of the 49th Annual Conference of the IEEE Industrial Electronics Society (IECON 2023). Marina Bay Sands (Singapore).
• Snobar, F.S.N., Michalka, A., Horn, M., Strohmeyer, C., & Graichen, K. (2023). Rack force estimation from standstill to high speeds by hybrid model design and blending. In Proceedings of the IEEE International Conference on Mechatronics (ICM 2023). Loughborough (UK).
• Spenger, P., & Graichen, K. (2023). Performance prediction of NMPC algorithms with incomplete optimization. In Proc. 22nd IFAC World Congress (accepted) (pp. 7456-7461). Yokohama, Japan.
• Ullrich, L., Völz, A., & Graichen, K. (2023). Robust meta-learning of vehicle yaw rate dynamics via conditional neural processes. In Proc. 62nd IEEE Conference on Decision and Control (CDC) (pp. 322-327). Marina Bay Sands (Singapore).

2022

• Bergmann, D., Harder, K., Niemeyer, J., & Graichen, K. (2022). Nonlinear MPC of a Heavy-Duty Diesel Engine With Learning Gaussian Process Regression. IEEE Transactions on Control Systems Technology, 30(1), 113-129. https://doi.org/10.1109/TCST.2021.3054650
• Burk, D., Völz, A., & Graichen, K. (2022). A modular framework for distributed model predictive control of nonlinear continuous-time systems (GRAMPC-D). Optimization and Engineering, 23, 771-795. https://doi.org/10.1007/s11081-021-09605-3
• Burk, D., Völz, A., & Graichen, K. (2022). Improving the performance of distributed model predictive control by applying graph partitioning methods. In Proceedings of the 26th International Conference on System Theory, Control and Computing (ICSTCC). Sinaia (Romania).
• Dahlmann, J., Völz, A., Szabo, T., & Graichen, K. (2022). A Numerical Approach for Solving the Inversion Problem for n-Trailer Systems. In 2022 American Control Conference (ACC) (pp. 2018-2024). Atlanta, GA, US: Institute of Electrical and Electronics Engineers Inc..
• Dahlmann, J., Völz, A., Szabo, T., & Graichen, K. (2022). Trajectory optimization for truck-trailer systems based on predictive path-following control. In Proceedings of the 6th IEEE Conference on Control Technology and Applications (CCTA). Trieste (Italy).
• Gold, T., Römer, R., Völz, A., & Graichen, K. (2022). Catching objects with a robot arm using model predictive control. In Proceedings 2022 American Control Conference (ACC) (pp. 1915-1920). Atlanta, GA (USA).
• Goller, T., Gold, T., Völz, A., & Graichen, K. (2022). Model predictive interaction control based on a path-following formulation. In Proceedings IEEE International Conference on Mechatronics and Automation (ICMA) (pp. 551-556). Guilin (China).
• Graichen, K., & Görges, D. (2022). Ausgewählte Beiträge des GMA Fachausschusses 1.50 .,Grundlagen vernetzter Systeme". At-Automatisierungstechnik, 70(4), 315-316. https://doi.org/10.1515/auto-2022-0033
• Huber, H., Burk, D., & Graichen, K. (2022). Comparison of sensitivity-based and ADMM-based DMPC applied to building automation. In Proceedings of the 6th IEEE Conference on Control Technology and Applications (CCTA) (pp. 546-553). Trieste (Italy).
• Kowalewski, J., Lorenz, A., Lomakin, A., Alvarez, R., & Graichen, K. (2022). Circulating current control and energy balancing of a modular multilevel converter using model predictive control for HVDC applications. In Proceedings of the 48th Annual Conference of the IEEE Industrial Electronics Society (IECON 2022). Brussels (BE).
• Lamprecht, A., Steffen, D., Nagel, K., Häcker, J., & Graichen, K. (2022). Online Model Predictive Motion Cueing With Real-Time Driver Prediction. IEEE Transactions on Intelligent Transportation Systems, 23(8), 12414-12428. https://doi.org/10.1109/tits.2021.3114003
• Landgraf, D., Völz, A., & Graichen, K. (2022). Nonlinear model predictive control with latent force models. In Proceedings 2022 American Control Conference (ACC) (pp. 4979-4984). Atlanta, GA (USA).
• Landgraf, D., Völz, A., Kontes, G., Graichen, K., & Mutschler, C. (2022). Hierarchical learning for model predictive collision avoidance. In IFAC PapersOnLine (pp. 355-360). Vienna (Austria).
• Makowicki, T., Bitzer, M., & Graichen, K. (2022). Cycle-by-Cycle Combustion Optimisation: Calibration of Data-based Models and Improvements of Computational Efficiency. Mathematical and Computer Modelling of Dynamical Systems, (accepted). https://doi.org/10.1080/13873954.2022.2052111
• Rabenstein, G., Demir, O., Trachte, A., & Graichen, K. (2022). Data-driven feed-forward control of hydraulic cylinders using Gaussian process regression for excavator assistance functions. In Proceedings of the 6th IEEE Conference on Control Technology and Applications (CCTA) (pp. 962-969). Trieste (Italy).
• Reinhard, J., Löhe, K., & Graichen, K. (2022). Optimal current setpoint computation for externally excited synchronous machines. In Proceedings of the 6th IEEE Conference on Control Technology and Applications (CCTA) (pp. 1319-1326). 6th IEEE Conference on Control Technology and Applications (CCTA).
• Schumann, M., Ebersberger, S., & Graichen, K. (2022). Dynamic and stationary state estimation of fluid cooled three-phase inverters. In Proceedings of the 26th IEEE International Symposium on Power Electronics, Electrical Drives Automation and Motion (SPEEDAM 2022). Sorrento (Italy).
• Snobar, F.S.N., Reinhard, J., Huber, H., Hoffmann, M., Stelzig, M., Vossiek, M., & Graichen, K. (2022). FOV-based model predictive object tracking for quadcopters. In Proceedings of the 9th IFAC Symposium on Mechatronic Systems (Mechatronics 2022) (pp. 13 - 18). Los Angeles, CA (USA).
• Stecher, J., Kiltz, L., & Graichen, K. (2022). Semi-infinite programming using Gaussian process regression for robust design optimization. In Proceedings European Control Conference (pp. 52-59). London (UK).

2021

• Burk, D., Völz, A., & Graichen, K. (2021). Experimental validation of the open-source DMPC framework GRAMPC-D applied to the remote-accessible robotarium. In Proceedings of the IEEE International Conference on Mechatronics and Automation (ICMA).
• Burk, D., Völz, A., & Graichen, K. (2021). Towards asynchronous ADMM for distributed model predictive control of nonlinear systems. In Proceedings European Control Conference (ECC 2021) (pp. 1950-1955).
• Gold, T., Rohrmüller, M., Völz, A., & Graichen, K. (2021). Model predictive interaction control for force closure grasping. In Proceedings of the 2021 IEEE Conference on Decision and Control (CDC) (pp. 1018-1023). Austin, TX, USA.
• Huber, H., & Graichen, K. (2021). A sensitivity-based distributed model predictive control algorithm for nonlinear continuous-time systems. In 5th IEEE Conference on Control Technology and Applications (CCTA) (pp. (accepted)).
• Lamprecht, A., Emmert, T., & Graichen, K. (2021). Learning-based driver prediction for MPC-based motion cueing algorithms. In Driving Simulation Conference Europe 2021 (DSC) (pp. 133 - 140).
• Lamprecht, A., Steffen, D., Häcker, J., & Graichen, K. (2021). Potential der modellprädiktiven Regelung für Fahrsimulatoren. At-Automatisierungstechnik, 69(2), 155-170. https://doi.org/10.1515/auto-2020-0090
• Lukassek, M., Völz, A., Szabo, T., & Graichen, K. (2021). Model predictive path-following control for general n-trailer systems with an arbitrary guidance point. In Proceedings European Control Conference (ECC 2021) (pp. 1329-1334).
• Völz, A., & Graichen, K. (2021). Gradient-based nonlinear model predictive control for systems with state-dependent mass matrix. In Proceedings of the 2021 IEEE Conference on Decision and Control (CDC), accepted.

2020

• Bergmann, D., & Graichen, K. (2020). Safe Bayesian Optimization under Unknown Constraints. In 59th IEEE Conference on Decision and Control (CDC 2020) (pp. 3592-3597). Institute of Electrical and Electronics Engineers Inc..
• Burk, D., Völz, A., & Graichen, K. (2020). Distributed optimization with ALADIN for non-convex optimal control problems. In 59th IEEE Conference on Decision and Control (CDC 2020).
• Burk, D., Völz, A., & Graichen, K. (2020). Neighbor approximations for distributed optimal control of nonlinear networked systems. In Proceedings of the European Control Conference (ECC 2020) (pp. 1238-1243).
• Englert, T., & Graichen, K. (2020). Nonlinear model predictive torque control and setpoint computation of induction machines for high performance applications. Control Engineering Practice, 99. https://doi.org/10.1016/j.conengprac.2020.104415
• Geiselhart, R., Bergmann, D., Niemeyer, J., Remele, J., & Graichen, K. (2020). Hierarchical Predictive Control of a Combined Engine/Selective Catalytic Reduction System with Limited Model Knowledge. SAE International Journal of Engines, 13(2), 211-222. https://doi.org/10.4271/03-13-02-0015
• Gold, T., Lomakin, A., Goller, T., Völz, A., & Graichen, K. (2020). Towards a Generic Manipulation Framework for Robots based on Model Predictive Interaction Control. In Proceedings of the IEEE International Conference on Mechatronics and Automation (ICMA) (pp. 401 - 407). Beijing, CN.
• Gold, T., Völz, A., & Graichen, K. (2020). Model Predictive Interaction Control for Industrial Robots. In Proceedings of the 21st IFAC World Congress (pp. 10026 - 10033). Berlin, DE.
• Gold, T., Völz, A., & Graichen, K. (2020). Model Predictive Position and Force Trajectory Tracking Control for Robot-Environment Interaction. In Proceedings of the 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (pp. 7397-7402). Las Vegas, NV, USA, US.
• Jemaa, K., Kotman, P., Reimann, S., & Graichen, K. (2020). Tube-based internal model control of minimum-phase input-affine MIMO systems under input constraints. In Proceedings of the 21st IFAC World Congress.
• Joos, S., Trachte, A., Bitzer, M., & Graichen, K. (2020). Constrained real-time control of hydromechanical powertrains - methodology and practical application. Mechatronics, 71. https://doi.org/10.1016/j.mechatronics.2020.102397
• Kruse, T., & Graichen, K. (2020). Moving horizon estimation for continuous glucose monitoring. In Proceedings of the 7th International Conference on Biomedical Engineering and Systems (ICBES 20).
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