liu.seSearch for publications in DiVA
Change search
CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • oxford
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf
State estimation of RC cars for the purpose of drift control
Linköping University, Department of Electrical Engineering, Automatic Control.
2011 (English)Independent thesis Advanced level (degree of Master (Two Years)), 20 credits / 30 HE creditsStudent thesisAlternative title
Tillståndsskattning på RC-bilar för driftreglering (Swedish)
Abstract [en]

High precision state estimation is crucial when executing drift control and high speed control close to the stability limit, on electric RC scale cars.

In this thesis the estimation is made possible through recursive Bayesian filtering; more precisely the Extended Kalman Filter. By modelling the dynamics of the car and using it together with position measurements and control input signals, it is possible to do state estimation and prediction with high accuracy even on non-measured states.

Focus is on real-time, on-line, estimation of the so called slip angles of the front and rear tyres, because of their impact of the car’s behaviour.

With the extended information given to the system controller, higher levels of controllability could be reached. This can be used not only for higher speeds and drift control, but also a possibility to study future anti-skid safety measures forground vehicles.

Place, publisher, year, edition, pages
2011. , 62 p.
Keyword [en]
Vehicle Dynamics, Sensor Fusion, Extended Kalman Filter, Control Theory, Kyosho dNano
National Category
Control Engineering
Identifiers
URN: urn:nbn:se:liu:diva-72182ISRN: LiTH-ISY-EX--11/4528--SEOAI: oai:DiVA.org:liu-72182DiVA: diva2:458079
Subject / course
Automatic Control
Uppsok
Technology
Supervisors
Examiners
Available from: 2011-11-22 Created: 2011-11-21 Last updated: 2011-11-22Bibliographically approved

Open Access in DiVA

fulltext(4904 kB)726 downloads
File information
File name FULLTEXT02.pdfFile size 4904 kBChecksum SHA-512
a567e48b624fef75943736d5fa3e79469c8b8f452ab3069880cd3f26402101a83d3a17e6cd15823c3d44c638cbf7127870d451727699869752af36a67c70a2a9
Type fulltextMimetype application/pdf

By organisation
Automatic Control
Control Engineering

Search outside of DiVA

GoogleGoogle Scholar
Total: 726 downloads
The number of downloads is the sum of all downloads of full texts. It may include eg previous versions that are now no longer available

urn-nbn

Altmetric score

urn-nbn
Total: 248 hits
CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • oxford
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf