Manuel Schwartz

TL;DR: The design and evaluation of a robust position and velocity tracking control of a four-wheel drive and four- wheel steered electric vehicle (4WD4WS EV) and a high gain observer coupled with SISO-control for each wheel supplements the cascaded control architecture is evaluated.

TL;DR: The paper at hand presents an optimal control allocation method for linear input systems under consideration of nearly arbitrary and time-varying secondary objectives, exploiting the degrees of freedom of the systems over-actuated characteristics.

TL;DR: In this paper, a cascaded (nonlinear) model predictive control (MPC) structure for highly automated vehicles for position and velocity reference tracking is presented, where the implementation of an algorithm passing the reference trajectories information by the motion planner and the predicted optimal control signals given by the MPCs through the whole vehicle control to maintain the desired vehicle behavior down to the low level controls is discussed.

TL;DR: The posed model predictive feed forward structure takes the actuator dynamics as well as box constraints, due to limited construction space of the mechatronic suspension system, of the steering angles into account and can be considered bounded as well.