Master Thesis Robust Trajectory Tracking Control for Autonomous Trucks (fmd)

to be filled from

immediately

Your working environment

TRATON Research & Development (R&D) is undergoing a major transformation to establish a strong global Group R&D organization. Our goal is to deliver a time-critical roadmap deliver outstanding customer value and drive innovation across our brandsScania MAN INTERNATIONAL and Volkswagen Truck & Bus. This transformation will strengthen our competitiveness and position Group R&D as a key business partner within TRATON Group. We are now looking for you to be part of this exciting change journey shaping the future of Group R&D.

AtTRATON R&D you are an important part of something bigger. Joining us means gaining access to the ins and outs of the entire transportation industry. As part of a global team of industry experts you get to think bigger experience more and reach further. Being bigger also means being stronger. Together with our brands we have the collective power to transform the transportation.

We see the individuality of our employees as a strength and welcome diverse applications from people with different backgrounds. If you need support during your application please contact us.

Description

The control design of articulated vehicles is a challenging task due to the complex interplay of multiple sources of uncertainties. External disturbances like side winds or road conditions exert influence while internal uncertainties in steering (actuator dynamics) state estimation or the trucks loading affect trajectory tracking performance. This thesis focuses on implementing a robust MPC approach to control the lateral dynamics of articulated vehicles. The control performance is enhanced by adaptively estimating model uncertainties and adapting the MPC model.

You can look forward to these tasks

• Review literature on robust Model Predictive Control (RMPC) approaches with performance learning

• Design and implement an RMPC controller for lateral control using acados and integrate it into an existing Simulink environment

• Implement a robust parameter estimation method (e.g. Gaussian Process Regression or Set-Membership Identification)

• Simulate and validate the implemented controller in MATLAB/Simulink

• Deploy and test the controller on our autonomous truck prototypes

We are looking forward to

• Enrolled as a Masters student in Electrical Engineering Mechanical Engineering Computer Science or a related field

• Excellent academic performance combined with practical experience from student projects (e.g. Formula Student Robotics etc.)

• Knowledge in vehicle dynamics and modeling is a plus

• Fundamental knowledge in control theory familiarity with Model Predictive Control (MPC) is preferred

• Programming experience in MATLAB/Simulink (knowledge in C or cmake is a plus)

• Independent solution-oriented working style

• Working knowledge of German and fluent English skills

Getting Started

Before starting the thesis we highly recommend a 23 month internship to get familiar with the tools models and project context. This ensures a smooth transition into the research work and gives you early hands-on experience with the relevant systems.

Has TRATON piqued your interest We look forward to receiving your detailed application!

Job information

Reference number: 4155

Claudia Wünsche will be happy to answer any questions about HR you may have.

The contact person for the department is Ariadna Civantos Coll .

Integrity and compliance are essential parts of our corporate culture.

We promote diversity and equal opportunities and look forward to receiving diverse applications.