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Hybrid Modelling and Reachability on Autonomous RC-Cars


T. A. Wood

Semester Thesis,FS 11 (10107)

In this report 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 nally validated on a real physical system. i


Type of Publication:

(13)Semester/Bachelor Thesis

P. Mohajerin Esfahani

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% Autogenerated BibTeX entry
@PhdThesis { Xxx:2011:IFA_4125
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