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Hybrid Modelling and Reachability on Autonomous RC-Cars


T. A. Wood, P. Mohajerin Esfahani, J. Lygeros

IFAC Conference on Analysis and Design of Hybrid Systems (ADHS), Eindhoven, Netherlands, pp. 430-435

In this paper we apply reachability analysis to design a controller for an RC-car to drive autonomously on a given circuit. We introduce a hybrid simpli cation technique to reduce the order of the model; this is crucial for reachability analysis. For a successful implementation on a real system the control problem is divided into two parts: a reachability control strategy is derived for the simpli ed hybrid model, and a gain-scheduled controller lets the full system track the simpli ed behaviour. We propose a heuristic algorithm to synthesise a hybrid feedback policy. By considering stochasticity in the model, we improve the performance of the controller which is finally validated on a real physical system.


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% Autogenerated BibTeX entry
@InProceedings { WooEsf:2012:IFA_4040,
    author={T. A. Wood and P. Mohajerin Esfahani and J. Lygeros},
    title={{Hybrid Modelling and Reachability on Autonomous RC-Cars}},
    booktitle={IFAC Conference on Analysis and Design of Hybrid Systems
    address={Eindhoven, Netherlands},
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