Abstract
The aim of the presentation is to give an overview of research at KTH Royal Institute of Technology, Sweden, on planning and control for autonomous driving of heavy-duty vehicles. We will, in particular, discuss our recent work on lateral motion control using adaptive Model Predictive Control. This is based on collaboration with Scania AB. The second part of the presentation will be on adaptive feedforward control of sinusoidal disturbances with applications to electric propulsion systems for trains. Here, generalized adaptive feedforward cancellation with a reference sensor is derived to suppress second harmonic torque oscillations with an ac-fed propulsion system for an electric train. This is based on collaboration with Alstom Rail Sweden AB.
Biographical Information
Bo Wahlberg has been a professor and Chair of Automatic Control at KTH Royal Institute of Technology since 1991. Bo Wahlberg is the KTH director and member of the program management of the Wallenberg AI, Autonomous Systems and Software Program (WASP). Bo Wahlberg was elected to IEEE Fellow in 2007 for his contributions to system identification using orthonormal basis functions, and to Fellow of IFAC in 2019 for his contributions to system identification and the development of orthonormal basis function models. He has been a 2023 Fellow of the Royal Swedish Academy of Engineering Sciences (IVA), Electrical Engineering Division. Bo Wahlberg has received several awards, including the IEEE Transactions on Automation Science and Engineering Best New Application Paper Award in 2016. He is the author of over 250 scientific publications and has been the supervisor of more than 130 master’s students and 25 PhD students. His main research interest is in estimation and optimization in system identification, decision and control systems and signal processing with applications in process industry and transportation.