4 papers
Traction Control Allocation Employing Vehicle Motion Feedback Controller for Four-wheel-independent-drive Vehicle
David Vošahlík, Tomáš Haniš
A novel vehicle traction algorithm solving the traction force allocation problem based on vehicle center point motion feedback controller is proposed in this paper. The center poin…
Model Predictive Control of a Vehicle using Koopman Operator
Vít Cibulka, Milan Korda, Tomáš Haniš +1
This paper continues in the work from arXiv:1903.06103 [math.OC] where a nonlinear vehicle model was approximated in a purely data-driven manner by a linear predictor of higher ord…
Spatio-Temporal Decomposition of Sum-of-Squares Programs for the Region of Attraction and Reachability
Vít Cibulka, Milan Korda, Tomáš Haniš
This paper presents a method for calculating Region of Attraction of a target set (not necessarily an equilibrium) for controlled polynomial dynamical systems, using a hierarchy of…
Data-driven identification of vehicle dynamics using Koopman operator
Vit Cibulka, Tomas Hanis, Martin Hromcik
This paper presents the results of identification of vehicle dynamics using the Koopman operator. The basic idea is to transform the state space of a nonlinear system (a car in our…