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Racing Backwards with 1:43 RC cars


Y. Darouach

Semester Thesis, FS14 (10334

In this semester project, the model and the control of a backward driving 1:43 remote controlled car are investigated. This project has two main parts, rst the system modelling and identi cation, and secondly the controller design and tuning. In the rst part of this thesis, the current model and identi cation technique are extended to the special case of backward driving. In the second part, the identi ed model is used within the existing model based controllers. The main challenges for the controller tuning are the non-minimal phase behaviour of a rear wheel steering car as well as the high sensitivity to control inputs. Finally, we show that with the present model predictive contouring controller good results can be obtained by appropriately tuning the controller. The control of the RC car is tested on the available testbed.


Type of Publication:

(13)Semester/Bachelor Thesis

A. Liniger

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% Autogenerated BibTeX entry
@PhdThesis { Xxx:2014:IFA_4871
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