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Piecewise Affine System Modeling of RC Race Cars


N. Andrey

Master Thesis, HS14 (10350)

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.


Type of Publication:

(12)Diploma/Master Thesis

A. Liniger

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