75 citations · 111 across the 12 of their papers we have counts for
13 papers
Online Time-Optimal Trajectory Planning on Three-Dimensional Race Tracks
Matthias Rowold, Levent Ögretmen, Ulf Kasolowsky +1
We propose an online planning approach for racing that generates the time-optimal trajectory for the upcoming track section. The resulting trajectory takes the current vehicle stat…
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…
A Rosenbrock framework for tangential interpolation of port-Hamiltonian descriptor systems
Tim Moser, Boris Lohmann
We present a new structure-preserving model order reduction (MOR) framework for large-scale port-Hamiltonian descriptor systems (pH-DAEs). Our method exploits the structural proper…
TUM autonomous motorsport: An autonomous racing software for the Indy Autonomous Challenge
Johannes Betz, Tobias Betz, Felix Fent +16
For decades, motorsport has been an incubator for innovations in the automotive sector and brought forth systems like disk brakes or rearview mirrors. Autonomous racing series such…
Indy Autonomous Challenge -- Autonomous Race Cars at the Handling Limits
Alexander Wischnewski, Maximilian Geisslinger, Johannes Betz +15
Motorsport has always been an enabler for technological advancement, and the same applies to the autonomous driving industry. The team TUM Auton-omous Motorsports will participate…
Nonlinear Moment Matching for the Simulation-Free Reduction of Structural Systems
Maria Cruz Varona, Nico Schneucker, Boris Lohmann
This paper transfers the concept of moment matching to nonlinear structural systems and further provides a simulation-free reduction scheme for such nonlinear second-order models.…
Practicable Simulation-Free Model Order Reduction by Nonlinear Moment Matching
Maria Cruz Varona, Raphael Gebhart, Julian Suk +1
In this paper, a practicable simulation-free model order reduction method by nonlinear moment matching is developed. Based on the steady-state interpretation of linear moment match…
Structure-Preserving Constrained Optimal Trajectory Planning of a Wheeled Inverted Pendulum
Klaus Albert, Karmvir Singh Phogat, Felix Anhalt +3
The Wheeled Inverted Pendulum (WIP) is an underactuated, nonholonomic mechatronic system, and has been popularized commercially as the Segway. Designing a control law for motion pl…
Pseudo-Optimal Reduction of Structured DAEs by Rational Interpolation
Philipp Seiwald, Alessandro Castagnotto, Tatjana Stykel +1
In this contribution, we extend the concept of inner product and pseudo-optimality to dynamical systems modeled by differential-algebraic equations…
A New Framework for -Optimal Model Reduction
Alessandro Castagnotto, Boris Lohmann
In this contribution, a new framework for H2-optimal reduction of multiple-input, multiple- output linear dynamical systems by tangential interpolation is presented. The framework…
Model reduction of linear time-varying systems with applications for moving loads
Maria Cruz Varona, Boris Lohmann
In this paper we consider different model reduction techniques for systems with moving loads. Due to the time-dependency of the input and output matrices, the application of time-v…
Stability-Preserving, Adaptive Model Order Reduction of DAEs by Krylov-Subspace Methods
Alessandro Castagnotto, Heiko K. F. Panzer, Klaus-Dieter Reinsch +1
Systems of differential-algebraic equations (DAEs) represent a widespread formalism in the modeling of constrained mechanical systems and electrical networks. Due to the automatic,…
ADI iteration for Lyapunov equations: a tangential approach and adaptive shift selection
Thomas Wolf, Heiko K. F. Panzer, Boris Lohmann
A new version of the alternating directions implicit (ADI) iteration for the solution of large-scale Lyapunov equations is introduced. It generalizes the hitherto existing iteratio…