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MPC Design For Autonomous Drifting
KTH, School of Electrical Engineering (EES), Automatic Control.
2017 (English)Independent thesis Advanced level (degree of Master (Two Years)), 20 credits / 30 HE creditsStudent thesis
Abstract [en]

The goal of this thesis is to evaluate the performance of different controllers to keep a remotecontrolledvehicle in a sustained drift. A bicycle model and an empirical tyre model are used formodelling the vehicle. The parameters for the used Fiala tyre model are experimentally identifiedand the simulation results of the modelled vehicle are compared to measured experimental data. Itfollows a stability analysis of the modelled system. The system is then linearized around one ofthe drift equilibria to allow controller design. A state feedback controller is designed to stabilizethe system, the controller gains are optimized using a Linear Quadratic Regulator (LQR) design,subsequently a Model Predictive Controller (MPC) is designed. Finally, the performance of the 3controllers is evaluated for a simulation with a disturbance acting on the system.

Abstract [sv]

Målet med denna studie är att undersöka prestandan för olika reglerstrukturer när en radiostyrd bildriftar. En cykelmodell och en empirisk däcksmodell används för att modellera bilen.Parametrarna som användes för Fiala däcksmodellen är framtagna genom experiment ochsimuleringsresultatet av den modellerade bilen jämförs med verklig data. En stabilitetsanalys ärockså gjord för det modellerade systemet. Systemet är sedan linjäriserat runt ett jämviktsläge fördrifting för att kunna skapa en regulator. En tillståndsregulator med återkoppling används för attstabilisera systemet. Förstärkningskonstanterna för regulatorn optimeras med linjärkvadratiskreglering och sedan designas en modell prediktiv kontroller. Slutligen utvärderas prestandan,genom simulering, hos de tre regulatorerna när en störning finns i systemet.

Place, publisher, year, edition, pages
2017. , p. 48
Series
TRITA-EE, ISSN 1653-5146 ; 2017:089
National Category
Electrical Engineering, Electronic Engineering, Information Engineering
Identifiers
URN: urn:nbn:se:kth:diva-215873OAI: oai:DiVA.org:kth-215873DiVA, id: diva2:1149520
Educational program
Master of Science - Systems, Control and Robotics
Available from: 2017-10-16 Created: 2017-10-16 Last updated: 2017-10-16Bibliographically approved

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CiteExportLink to record
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Citation style
  • apa
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