Presentation Details
Optimal control of a slot car racer
Friday, 13 Oct 2017; 10:10 - 10:30 in room 7.02
In Session:
CS03: Multiphysics
Friday, 13 Oct 2017; 08:30 - 10:30 in room 7.02
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1st and presenting Author
Johann Penner
Chair of Applied Dynamics
Friedrich-Alexander University of Erlangen-Nürnberg
Erlangen, Germany
Chair of Applied Dynamics
Friedrich-Alexander University of Erlangen-Nürnberg
Erlangen, Germany
2nd Author
Tristan Schlögl
Chair of Applied Dynamics
Friedrich-Alexander University of Erlangen-Nürnberg
Erlangen, Germany
Chair of Applied Dynamics
Friedrich-Alexander University of Erlangen-Nürnberg
Erlangen, Germany
3rd Author
Sigrid Leyendecker
Chair of Applied Dynamics
Friedrich-Alexander University of Erlangen-Nürnberg
Erlangen, Germany
Chair of Applied Dynamics
Friedrich-Alexander University of Erlangen-Nürnberg
Erlangen, Germany
Micro Abstract:
Within this work, we compute and apply control strategies for the time-minimal path of a slot car racer. Here, the DMOC (Discrete Mechanics and Optimal Control) method is used to generate offline optimal trajectories for the electro-mechanically coupled system, i.e. sequences of discrete configurations and driving voltages. These sequences are embedded to a control architecture with an underling camera tracking system which allows to correct the vehicle towards the desired state via computer.