Modeling and Control of an Autonomous Racing Car

Student thesis: Master thesis (including HD thesis)

  • Jonatan Fuglsang Jensen
4. term, Control and Automation, Master (Master Programme)
This thesis describes the design and analysis of an nonlinear model and a control strategy for Aalborg University Race team’s G8 race car and has been motivated by the need for an Autonomous Racing Car (ARC) to compete in the Formula Student event in 2021. The performance of the designed model is evaluated in a simulation environment, implemented in Matlab Simulink. Effort has been put in to keep it reusable for extensions in future work. The equations of motion have been formulated, including tire dynamic together with aerodynamic disturbance and take into account longitudinal and lateral slip. A linearization of the nonlinear model has be performed to allow an implementation of a linear quadratic controller (LQR) design, to regulate the speed. The model shows good performance in regions above 36 kilometer per hour, but region below suffer from a simplified engine model.
LanguageEnglish
Publication date6 Sep 2019
Number of pages71
ID: 310347809