2017, MPC Design for autonomous drifting
This master thesis is carried out by Corvin Kück at SML with the F1tenth vehicle platform. The goal of this thesis work is design an MPC control for autonomous vehicle drifting
The goal of the Thesis is to control the f1/tenth vehicle to keep it in a sustained drift with desired slip angle and yaw rate. Experiments are performed in the SML to obtain the parameters for the empirical tyre model. It follows a stability analysis of the modeled vehicle. Different controllers are designed to stabilize the vehicle around one of the drift-equilibria. A conventional state-feedback approach is used as a reference design and compared to a LQR-controller and finally a MPC-controller. The performance of the different controllers is validated in simulation and with experiments on f1/tenth vehicle.
