88 citations · 91 across the 6 of their papers we have counts for
6 papers
Robust Nonlinear Trajectory Tracking Control for Autonomous Racing on Three-Dimensional Tracks
Joscha F. Bongard, Georg Jank, Simon Sagmeister +1
We propose a robust nonlinear model predictive control (MPC) scheme for trajectory-tracking control of autonomous vehicles at the limits of handling on non-planar road surfaces. We…
Head-to-Head autonomous racing at the limits of handling in the A2RL challenge
Simon Hoffmann, Simon Sagmeister, Tobias Betz +17
Autonomous racing presents a complex challenge involving multi-agent interactions between vehicles operating at the limit of performance and dynamics. As such, it provides a valuab…
Control Lyapunov Functions for Optimality in Sontag-Type Control
Joscha F. Bongard, Boris Lohmann
Given a Control Lyapunov Function (CLF), Sontag's famous Formula provides a nonlinear state-feedback guaranteeing asymptotic stability of the setpoint. At the same time, a cost fun…
Dynamic Constraint Tightening for Nonlinear MPC for Autonomous Racing via Contraction Analysis
Joscha F. Bongard, Valentin L. Krieger, Boris Lohmann
This work develops a robust nonlinear Model Predictive Control (MPC) framework for path tracking in autonomous vehicles operating at the limits of handling utilizing a Control Cont…
A Discussion on Nonlinear Quadratic Control and Sontag's Formula
Boris Lohmann, Joscha Bongard
The quadratic optimal state feedback (LQR) is one of the most popular designs for linear systems and succeeds via the solution of the algebraic Riccati equation. The situation is d…
Robust stability analysis of a simple data-driven model predictive control approach
Joscha Bongard, Julian Berberich, Johannes Köhler +1
In this paper, we provide a theoretical analysis of closed-loop properties of a simple data-driven model predictive control (MPC) scheme. The formulation does not involve any termi…