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Model Based Energy Management and State Estimation for the Robotic Electric Vehicle ROboMObil

Brembeck, Jonathan (2018) Model Based Energy Management and State Estimation for the Robotic Electric Vehicle ROboMObil. Dissertation, Technische Universtität München.

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Official URL: https://mediatum.ub.tum.de/1415807

Abstract

An innovative energy management framework – focusing on the spatial vehicle motion – is developed and evaluated by simulations with realistic test scenarios using a multiphysical Modelica model of ROboMObil. Additionally, a novel method is proposed, and evaluated with ROboMObil, to automatically construct real-time capable, discrete-time, nonlinear state estimation algorithms with constraint handling from multi-physical, continuous-time Modelica models.

Item URL in elib:https://elib.dlr.de/124221/
Document Type:Thesis (Dissertation)
Title:Model Based Energy Management and State Estimation for the Robotic Electric Vehicle ROboMObil
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Brembeck, Jonathanjonathan.brembeck (at) dlr.dehttps://orcid.org/0000-0002-7671-5251
Date:2018
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:No
Status:Published
Keywords:ROboMObil, electro mobility, battery electric vehicle, in-wheel motor, by-wire, wheel robot, energy management, control allocation, path planning, trajectory control, state estimation, Kalman Filter, constrained estimation, moving horizon estimation, real-time estimation, delayed measurements, Modelica, state of charge estimation, vehicle position estimation, DLR
Institution:Technische Universtität München
Department:Fakultät für Elektrotechnik und Informationstechnik
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Transport
HGF - Program Themes:Terrestrial Vehicles (old)
DLR - Research area:Transport
DLR - Program:V BF - Bodengebundene Fahrzeuge
DLR - Research theme (Project):V - Fahrzeugintelligenz (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of System Dynamics and Control > Vehicle System Dynamics
Deposited By: Klauer, Monika
Deposited On:10 Dec 2018 11:33
Last Modified:12 Dec 2018 13:01

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