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eess.SY2025
Efficient Collision-Avoidance Constraints for Ellipsoidal Obstacles in Optimal Control: Application to Path-Following MPC and UAVs
David Leprich, Mario Rosenfelder, Markus Herrmann-Wicklmayr +3
This article proposes a modular optimal control framework for local three-dimensional ellipsoidal obstacle avoidance, exemplarily applied to model predictive path-following control…
eess.SY2020
Robust Model Predictive Longitudinal Position Tracking Control for an Autonomous Vehicle Based on Multiple Models
André Kempf, Markus Herrmann-Wicklmayr, Steffen Müller
The aim of this work is to control the longitudinal position of an autonomous vehicle with an internal combustion engine. The powertrain has an inherent dead-time characteristic an…