MPC Design For Autonomous Drifting

Abstract: 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.