12 citations · 19 across the 11 of their papers we have counts for
4 papers · 1 filter
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…
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…
Longitudinal Control for Autonomous Racing with Combustion Engine Vehicles
Phillip Pitschi, Simon Sagmeister, Sven Goblirsch +2
Usually, a controller for path- or trajectory tracking is employed in autonomous driving. Typically, these controllers generate high-level commands like longitudinal acceleration o…