Mechatronic systems consist of both mechanical and electrical components. Typical challenges are the high integration of these systems along with the limited computational resources of embedded hardware such as electronic control units (ECUs) in automotive applications. We have a successful history of bridging the gap between theory and practice in close cooperation with industrial partners from the mechatronics and automotive domain.
Highly integrated mechatronic systems can, for instance, be found in electric drives, power trains, and sensors. Future mechatronic applications will not only involve classical control loops, but will also be equipped with further intelligent and autonomous functionalities such as automatic calibration, fault-tolerant operation and predictive maintenance.
Automotive-related applications such as passenger cars, trucks or agricultural machines involve a multitude of control systems. This ranges from active suspension, traction control, assisted driving up to fully autonomous driving. On the lower level, efficient embedded control implementations are predominant, whereas higher level control loops involve complex decision making in combination with environmental perception.
State-of-the-art modeling approaches of mechatronic systems combine physics-based and data-driven design methods to account for the uncertainties introduced, for example, by wear, aging and serial production spread. A particular expertise of the Chair is to leverage these hybrid models for sophisticated control schemes and the development of tailored algorithms for real-time capable implementations.
Related projects since 2021
Term: 1. October 2022 - 30. September 2025
Funding source: Bundesministerium für Forschung, Technologie und Raumfahrt (BMFTR)
Project leader:
Funding source: Bundesministerium für Forschung, Technologie und Raumfahrt (BMFTR)
Project leader:
Prof. Dr.-Ing. Knut Graichen
Chair holder
Term: 1. July 2021 - 30. June 2024
Funding source: Bayerische Forschungsstiftung
Project leader:
Funding source: Bayerische Forschungsstiftung
Project leader:
Prof. Dr.-Ing. Knut Graichen
Chair holder
Term: 1. August 2020 - 31. July 2023
Funding source: Industrie
Project leader:
Funding source: Industrie
Project leader:
Prof. Dr.-Ing. Knut Graichen
Chair holder
Term: 1. September 2019 - 31. August 2022
Funding source: Industrie
Project leader:
Funding source: Industrie
Project leader:
Prof. Dr.-Ing. Knut Graichen
Chair holder
Term: 1. April 2019 - 31. October 2021
Funding source: Industrie
Project leader:
Funding source: Industrie
Project leader:
Prof. Dr.-Ing. Knut Graichen
Chair holder
Term: 1. July 2020 - 31. August 2023
Funding source: Industrie
Project leader:
Funding source: Industrie
Project leader:
Prof. Dr.-Ing. Knut Graichen
Chair holder
Term: 1. August 2023 - 31. July 2024
Funding source: Industrie
Project leader:
Funding source: Industrie
Project leader:
Prof. Dr.-Ing. Knut Graichen
Chair holder
Term: 1. July 2024 - 30. June 2027
Funding source: Industrie
Project leader:
Funding source: Industrie
Project leader:
Prof. Dr.-Ing. Knut Graichen
Chair holder
Term: 1. September 2024 - 31. August 2025
Funding source: Industrie
Project leader:
Funding source: Industrie
Project leader:
Prof. Dr.-Ing. Knut Graichen
Chair holder
Term: 1. July 2021 - 30. June 2024
Funding source: Industrie
Project leader:
Funding source: Industrie
Project leader:
Prof. Dr.-Ing. Knut Graichen
Chair holder
Related publications
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Toward Fully Autonomous Driving: AI, Challenges, Opportunities, and Needs
In: IEEE Access (2026)
ISSN: 2169-3536
DOI: 10.1109/ACCESS.2026.3659192
URL: https://ieeexplore.ieee.org/document/11367669
- , , :
Global motion planning for multi-trailer vehicles in partially structured environments
In: Journal of Intelligent & Robotic Systems 111 (2025), Article No.: 128
ISSN: 0921-0296
DOI: 10.1007/s10846-025-02330-4 - , :
Learning-based uncertainty-aware predictive control of truck-trailer systems in rough terrain
19th IEEE International Conference on Control & Automation (ICCA) (Tallinn (Estonia), 30. June 2025 - 3. July 2025) - , , , :
Dynamic Compensation of the Threading Speed Drop in Rolling Processes: Bayesian Optimization of the Roughing and Finishing Mill
In: Journal of Process Control 156 (2025), p. 103579
ISSN: 0959-1524
DOI: 10.1016/j.jprocont.2025.103579 - , , , :
Detection of localized bearing faults in PMSMs by means of envelope analysis and wavelet packet transform using motor speed and current signals
In: Mechatronics 106 (2025), p. 103294
ISSN: 0957-4158
DOI: 10.1016/j.mechatronics.2025.103294 - , , , :
AI safety assurance for automated vehicles: A survey on research, standardization, regulation
In: IEEE Transactions on Intelligent Vehicles 10 (2025), p. 4784-4803
ISSN: 2379-8858
DOI: 10.1109/TIV.2024.3496797 - , , , :
Expanding the Classical V-Model for the Development of Complex Systems Incorporating AI
In: IEEE Transactions on Intelligent Vehicles 10 (2025), p. 1790-1804
ISSN: 2379-8858
DOI: 10.1109/TIV.2024.3434515 - , , , , :
A Concept for Efficient Scalability of Automated Driving Allowing for Technical, Legal, Cultural, and Ethical Differences
2025 IEEE 28th International Conference on Intelligent Transportation Systems (ITSC) (Gold Coast (Australia), 18. November 2025 - 21. November 2025) - , , :
Enhancing system self-awareness and trust of AI: A case study in trajectory prediction and planning
36th IEEE Intelligent Vehicles Symposium (IEEE IV 2025) (Cluj-Napoca (Romania), 22. June 2025 - 25. June 2025) - , , , , , :
A New Perspective On AI Safety Through Control Theory Methodologies
In: IEEE Open Journal of Intelligent Transportation Systems 6 (2025), p. 938-966
ISSN: 2687-7813
DOI: 10.1109/OJITS.2025.3585274
- , , :
Ein Konzept zum automatisierten Rangieren von Fahrzeugen mit Anhängern
In: At-Automatisierungstechnik 72 (2024), p. 354-368
ISSN: 0178-2312
DOI: 10.1515/auto-2023-0198 - , , , :
Local predictive optimization of globally planned motions for truck-trailer systems
In: IEEE Transactions on Control Systems Technology 32 (2024), p. 1555-1568
ISSN: 1063-6536
DOI: 10.1109/TCST.2023.3345169 - , , :
Trajectory tracking control for multilevel pressure boosting systems
28th International Conference on System Theory, Control and Computing (ICSTCC) (Sinaia, Romania, 10. October 2024 - 12. October 2024) - , , , :
Model predictive path-following control for truck–trailer systems with specific guidance points - Design and experimental validation
In: Mechatronics 100 (2024), p. 103190
ISSN: 0957-4158
DOI: 10.1016/j.mechatronics.2024.103190 - , , , , , :
Work Roll Speed Drop Compensation for Hot Strip Mills Reduces Drivetrain Wear and Increases Strip Quality
AISTech 2024 Iron and Steel Technology Conference (Columbus, OH, 6. May 2024 - 9. May 2024)
In: AISTech 2024 — Proceedings of the Iron & Steel Technology Conference, Warrendale, PA: 2024
DOI: 10.33313/388/128 - , , :
Sampling for model predictive trajectory planning in autonomous driving using normalizing flows
35th IEEE Intelligent Vehicles Symposium (IEEE IV 2024) (Jeju Island (Korea), 2. June 2024 - 5. June 2024)
In: Proc. 35th IEEE Intelligent Vehicles Symposium (IEEE IV 2024) 2024 - , , :
Optimal dynamic current control for externally excited synchronous machines
2024 IEEE Conference on Control Technology and Applications (CCTA) (Newcastle upon Tyne, UK, 21. August 2024 - 23. August 2024)
DOI: 10.1109/CCTA60707.2024.10666513 - , , , , :
Dynamic compensation of the threading speed drop in rolling processes
In: Journal of Process Control 137 (2024), p. 103197
ISSN: 0959-1524
DOI: 10.1016/j.jprocont.2024.103197 - , :
PINN-based dynamical modeling and state estimation in power inverters
2024 IEEE Conference on Control Technology and Applications (CCTA) (Newcastle upon Tyne, UK, 21. August 2024 - 23. August 2024) - , , , , :
Sensitivity-based moving horizon estimation of road friction
European Control Conference (Stockholm (Sweden), 25. June 2024 - 28. June 2024) - , , :
Transfer learning study of motion transformer based trajectory predictions
35th IEEE Intelligent Vehicles Symposium (IEEE IV 2024) (Jeju Island (Korea), 2. June 2024 - 5. June 2024)
In: Proc. 35th IEEE Intelligent Vehicles Symposium (IEEE IV 2024) 2024
- , , , :
Safe active learning and probabilistic design of experiment for autonomous hydraulic excavators
2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (Detroit, 1. October 2023 - 5. October 2023) - , , , :
Hierarchical model predictive control for an off-highway Diesel engine with SCR catalyst
In: International Journal of Engine Research (2023)
ISSN: 1468-0874
DOI: 10.1177/14680874221143600 - , , :
Online learning and adaptation of nonlinear thermal networks for power inverters
49th Annual Conference of the IEEE Industrial Electronics Society (IECON 2023) (Marina Bay Sands (Singapore), 16. October 2023 - 19. October 2023) - , , :
Improved nonlinear estimation in thermal networks using machine learning
IEEE International Conference on Mechatronics (ICM 2023) (Loughborough (UK), 15. March 2023 - 17. March 2023)
In: Proc. IEEE International Conference on Mechatronics (ICM 2023, accepted) 2023
DOI: 10.1109/icm54990.2023.10102071 - , , , , :
Rack force estimation from standstill to high speeds by hybrid model design and blending
IEEE International Conference on Mechatronics (ICM 2023) (Loughborough (UK), 15. March 2023 - 17. March 2023)
DOI: 10.1109/ICM54990.2023.10102078 - , , :
Robust meta-learning of vehicle yaw rate dynamics via conditional neural processes
62nd IEEE Conference on Decision and Control (CDC) (Marina Bay Sands (Singapore), 13. December 2023 - 15. December 2023)
In: Proc. 62nd IEEE Conference on Decision and Control (CDC) 2023
- , , , :
Nonlinear MPC of a Heavy-Duty Diesel Engine With Learning Gaussian Process Regression
In: IEEE Transactions on Control Systems Technology 30 (2022), p. 113-129
ISSN: 1063-6536
DOI: 10.1109/TCST.2021.3054650 - , , , :
A Numerical Approach for Solving the Inversion Problem for n-Trailer Systems
2022 American Control Conference, ACC 2022 (Atlanta, GA, 8. June 2022 - 10. June 2022)
In: 2022 American Control Conference (ACC) 2022
DOI: 10.23919/ACC53348.2022.9867593 - , , , :
Trajectory optimization for truck-trailer systems based on predictive path-following control
6th IEEE Conference on Control Technology and Applications (CCTA) (Trieste (Italy), 22. August 2022 - 25. August 2022)
DOI: 10.1109/ccta49430.2022.9966073 - , , , :
Data-driven feed-forward control of hydraulic cylinders using Gaussian process regression for excavator assistance functions
6th IEEE Conference on Control Technology and Applications (CCTA) (Trieste (Italy), 22. August 2022 - 25. August 2022)
DOI: 10.1109/ccta49430.2022.9966062 - , , :
Optimal current setpoint computation for externally excited synchronous machines
6th IEEE Conference on Control Technology and Applications (CCTA) (6th IEEE Conference on Control Technology and Applications (CCTA), 22. August 2022 - 25. August 2022)
DOI: 10.1109/ccta49430.2022.9965988 - , , :
Dynamic and stationary state estimation of fluid cooled three-phase inverters
26th IEEE International Symposium on Power Electronics, Electrical Drives Automation and Motion (SPEEDAM 2022) (Sorrento (Italy), 22. June 2022 - 24. June 2022)
DOI: 10.1109/speedam53979.2022.9842247
- , , , :
Model predictive path-following control for general n-trailer systems with an arbitrary guidance point
In: Proceedings European Control Conference (ECC 2021) 2021
DOI: 10.23919/ecc54610.2021.9654870
- , :
Safe Bayesian Optimization under Unknown Constraints
59th IEEE Conference on Decision and Control, CDC 2020 (, 14. December 2020 - 18. December 2020)
In: 59th IEEE Conference on Decision and Control (CDC 2020) 2020
DOI: 10.1109/CDC42340.2020.9304209 - , :
Nonlinear model predictive torque control and setpoint computation of induction machines for high performance applications
In: Control Engineering Practice 99 (2020), Article No.: 104415
ISSN: 0967-0661
DOI: 10.1016/j.conengprac.2020.104415 - , , , , :
Hierarchical Predictive Control of a Combined Engine/Selective Catalytic Reduction System with Limited Model Knowledge
In: SAE International Journal of Engines 13 (2020), p. 211-222
ISSN: 1946-3936
DOI: 10.4271/03-13-02-0015 - , , , :
Model predictive control for agricultural machines with implements
In: Proceedings 28th Mediterranean Conference on Control and Automation (MED) 2020
DOI: 10.1109/med48518.2020.9183272 - , , :
Learning feedforward control of a hydraulic clutch actuation path based on policy gradients
In: 59th IEEE Conference on Decision and Control (CDC 2020) 2020
DOI: 10.1109/cdc42340.2020.9303981
- , , :
Modelling and control of a heavy-duty Diesel engine gas path with Gaussian process regression
In: Proc. European Control Conference (ECC 2019), Naples (Italy): 2019
DOI: 10.23919/ecc.2019.8796016 - , :
Gaußprozessregression zur Modellierung zeitvarianter Systeme
In: At-Automatisierungstechnik 67 (2019), p. 637-647
ISSN: 0178-2312
DOI: 10.1515/auto-2019-0015 - , , :
Learning methods for the feedforward control of a hydraulic clutch actuation path
In: Proc. IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM 2019), Hong Kong (China): 2019
DOI: 10.1109/aim.2019.8868433 - , , :
Feedforward control of a hydraulic clutch actuation path
In: Proc. European Control Conference (ECC 2019), Naples (Italy): 2019
DOI: 10.23919/ecc.2019.8795978
- , :
A fixed-point iteration scheme for model predictive torque control of PMSMs
In: Proceedings 6th IFAC Conference on Nonlinear Model Predictive Control (NMPC), Madison, WI (USA): 2018 - , , , :
A real-time nonlinear air path observer for off-highway diesel engines
In: Proceedings 2018 European Control Conference (ECC), Limassol (Cyprus): 2018
- , :
Transformation of output constraints in optimal control applied to a double pendulum on a cart
In: Proceedings 9th IFAC Symposium ``Nonlinear Control Systems'' (NOLCOS), Toulouse (Italy): 2013 - , :
Model predictive control of an overhead crane using constraint substitution
In: Proceedings 2013 American Control Conference (ACC), Washington, DC (USA): 2013