Hybrid modelling and reachability on autonomous RC-Cars
dc.contributor.author
Wood, Tony A.
dc.contributor.author
Mohajerin Esfahani, Peyman
dc.contributor.author
Lygeros, John
dc.date.accessioned
2021-07-28T12:10:51Z
dc.date.available
2017-06-10T12:06:00Z
dc.date.available
2018-09-13T07:52:22Z
dc.date.available
2021-07-28T12:10:51Z
dc.date.issued
2012
dc.identifier.isbn
978-3-902823-00-7
en_US
dc.identifier.issn
1474-6670
dc.identifier.other
10.3182/20120606-3-NL-3011.00052
en_US
dc.identifier.uri
http://hdl.handle.net/20.500.11850/60449
dc.description.abstract
In this paper we apply reachability analysis to design a controller for an RC-car to drive autonomously on a given circuit. We introduce a hybrid simplification technique to reduce the order of the model; this is crucial for reachability analysis. For a successful implementation on a real system the control problem is divided into two parts: a reachability control strategy is derived for the simplified hybrid model, and a gain-scheduled controller lets the full system track the simplified behaviour. We propose a heuristic algorithm to synthesise a hybrid feedback policy. By considering stochasticity in the model, we improve the performance of the controller which is finally validated on a real physical system.
en_US
dc.language.iso
en
en_US
dc.publisher
Elsevier
en_US
dc.title
Hybrid modelling and reachability on autonomous RC-Cars
en_US
dc.type
Conference Paper
dc.date.published
2016-04-21
ethz.book.title
Proceedings of the 4th IFAC Conference on Analysis and Design of Hybrid Systems (ADHS 2012)
en_US
ethz.journal.title
IFAC Proceedings Volumes
ethz.journal.volume
45
en_US
ethz.journal.issue
9
en_US
ethz.pages.start
430
en_US
ethz.pages.end
435
en_US
ethz.event
4th IFAC Conference on Analysis and Design of Hybrid Systems (ADHS 2012)
en_US
ethz.event.location
Eindhoven, Netherlands
ethz.event.date
June 6-8, 2012
en_US
ethz.publication.place
Oxford
ethz.publication.status
published
en_US
ethz.leitzahl
ETH Zürich::00002 - ETH Zürich::00012 - Lehre und Forschung::00007 - Departemente::02140 - Dep. Inf.technologie und Elektrotechnik / Dep. of Inform.Technol. Electrical Eng.::02650 - Institut für Automatik / Automatic Control Laboratory::03751 - Lygeros, John / Lygeros, John
en_US
ethz.leitzahl.certified
ETH Zürich::00002 - ETH Zürich::00012 - Lehre und Forschung::00007 - Departemente::02140 - Dep. Inf.technologie und Elektrotechnik / Dep. of Inform.Technol. Electrical Eng.::02650 - Institut für Automatik / Automatic Control Laboratory::03751 - Lygeros, John / Lygeros, John
ethz.date.deposited
2017-06-10T12:06:08Z
ethz.source
ECIT
ethz.identifier.importid
imp59365022cb5b395741
ethz.ecitpid
pub:96545
ethz.eth
yes
en_US
ethz.availability
Metadata only
en_US
ethz.rosetta.installDate
2017-07-13T12:26:53Z
ethz.rosetta.lastUpdated
2024-02-02T14:25:56Z
ethz.rosetta.versionExported
true
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