Master Thesis: “Robust Creep Control Algorithm with motion shaping and tracking for passenger vehicles”
Author: Dante Amor
Supervisors: Prof. Enrique Zuazua, Zhengping Ji
Date: May, 2026
This thesis aims to provide a new architecture that provides torque commands to control the vehicle, not only reaching a target velocity, but by shaping the full trajectory of the desired motion of the vehicle. To accomplish this, concepts of Output regulation are used to produce smooth and feasible velocity and acceleration reference signals, with an expansion to nonlinear control techniques such as Sliding Mode Control and a higher-order version Super-twisting Sliding Mode Control for added robustness and smoother control action with reduced chattering.
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