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Piecewise Affine System Modeling of RC Race Cars

Author(s):

N. Andrey
Conference/Journal:

Master Thesis, HS14 (10350)
Abstract:

In this Master Thesis the non-linear dynamic of a slip model of a miniature R/C car is approximated by a piecewise affine system model. The Model Predictive Contouring Controller, previously developed in other Optimal RC Autonomous Racing projects at IfA, is implemented using the piecewise-affine approximation of the non-linear slip model. This leads to a mixed integer optimization control problem. Lastly, the performance of the proposed controller using the piecewise affine model and the controller with the existing model are compared in simulation.

Year:

2014
Type of Publication:

(12)Diploma/Master Thesis
Supervisor:

A. Liniger

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% Autogenerated BibTeX entry
@PhdThesis { Xxx:2014:IFA_5058
}
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