Daniel Görges's research while affiliated with RPTU - Rheinland-Pfälzische Technische Universität Kaiserslautern Landau and other places

... Moreover, a chance-constrained MPC-CBF algorithm for collision avoidance of moving obstacles under uncertainty is described in [25]. A novel integration of stochastic MPC with situation-aware dynamic risk assessment is developed in [26]. ...

... This issue can be naturally addressed with MPC for tracking formulations as the desired steady-state is jointly optimized in the MPC. Corresponding results for different data-driven and learning-based models can be found in [22], [42], [76], [79], [80]. ...

... As a result, with a slow lateral-dynamics controller, the path-tracking controller must be even slower. In (Gabriel et al., 2022) a lateral dynamics controller was presented, which is able to stabilize the bicycle and track a desired yaw rate of the bicycle. The closed loop has a time constant of τ ≈ 1.5 s, therefore the outer control loop must have a time constant of at least 4.5 s. ...

... Dynamic investigation analysis of FG plates with porosities was presented by Bourada et al. (2019) on the basis of sinusoidal shear deformation theory. Among pioneering studies on the mechanics of beam/plate shell structures are references (Ellali et al. 2022b;Ebrahimi and Farazmandnia 2018;Bouazza et al. 2017;Kumar et al. 2021;Esen et al. 2022;Bouazza and Benseddiq 2015;Tian et al. 2023;Wang et al. 2022;Hellal et al. 2021;Yaylacı et al. 2021;Kolahchi et al. 2022). ...

... In recent years, sliding mode control (SMC) has attracted a lot of focus on account of its robust behavior to system uncertainties and disturbances [23,24]. The adaptive disturbance rejection control (ADRC) and SMC have been compared in [25], and SMC has been used for many multi-agent systems [26][27][28]. ...

... The calculation of the velocity of the ride was based on distance measurements by a single-pulse incremental encoder. Bicycle dynamics were estimated with a constrained extended Kalman filter based on state estimation for bicycles [64]. ...

... J. Knaup The proposed problem formulation has connections to the literature of robust control and set-based methods, in particular, in the case that the disturbances are assumed to be sampled from a uniform distribution. The robust control literature primarily considers unknown, but deterministic disturbances which may enter the dynamics both multiplicatively or additively, similar to the proposed problem [13]- [17]. The difference being that set-based methods upper bound the reachable set of the state for all possible disturbance realizations, requiring the disturbances to be drawn from bounded sets (i.e., distributions with bounded support such as the uniform distribution) [18]. ...

... For an optimal control problem of nonlinear systems, the Hamilton-Jacobi-Bellman (HJB) equation is introduced to solve such problems, which is essentially a backward numerical process. The HJB equation can cause the notorious "curse of dimensionality": the exponential growth of the number of parameters to be learned in contrast to the size of any compact encoding [2]. In recent years, the advent of adaptive dynamic programming (ADP) algorithms has provided an effective optimization method, owing to its capability of self-learning and adaptivity [3]. ...

... Due to the current climate change issues humanity is facing, bicycles are becoming an increasingly popular mean of transportation for emissions reduction purposes [1,2]. Studies and academic research on bicycles have been developed and published, e.g., comparing bicycles cost with cars [3] or dealing with the role of bicycles in urban traffic [4]. ...

... where the mapping DLQG : S + × S ++ × R × R × × R × → R × × R is well-defined and characterized by the relations (4)- (6). Since we are particularly interested in the manipulation of the cost signals, we write ( , ) = DLQG( , , ) for simplicity. ...