@article{nubert2020safe, title = {Safe and Fast Tracking on a Robot Manipulator: Robust MPC and Neural Network Control}, author = {Nubert, Julian and Koehler, Johannes and Berenz, Vincent and Allgower, Frank and Trimpe, Sebastian}, journal = {IEEE Robotics and Automation Letters}, volume = {5}, number = {2}, pages = {3050--3057}, year = {2020}, doi = {10.1109/LRA.2020.2975727} }