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- PWM: the motor input signal.
- const: a constant term representing friction.
- W(s): transfer function between PWM signal and speed.
- v: 2D speed of the car.
- y^.: monodimensional speed obtained by projecting the 2D speed of the car on the path.
- y: monodimensional position of the car obtained by projecting its 2D position on the path.
- y_m: monodimensional position of the car measured by cameras.
- D_a: actuator disturbances on the control variable.
- D_slope: disturbances on the speed caused by slopes of the test-bed.
- D_slip: disturbances on the speed caused by the coupling with the lateral dynamics of the car (i.e. with the steer).
- D_proj: disturbances that
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Djump
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- caused by projecting the 2D speed on the path.
- D_jump: the path followed by cars is composed by a polygonal chain. This means that when the car goes from a segment to the next one, there is an interval of time during which the car position is projected on the same exact point of the path. This disturbance compensate for the fact that the actual 1D speed of that car in that point is 0.
- D_m: measurement error.
D_slope and D_slip are path dependent. I plan to measure them experimentally and treat them as a path-dependent known disturbance.
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D_jump ANALYSIS
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The path fig8 is composed by 649 control points for a total length of 9465.53 millimeters. The angle difference between two consecutive segments is delta = 0.9 degrees. We set the maximum distance of the car from the path to be x_max = 30cm (which is realistic with the current steer control performances). Assuming the car to constantly be at the maximum distance for the whole time, we can compute D_jump = 649 * delta * x_max = 3058.34mm which is the 32.31% of the path length. It is clear thus that the steer control performance must be drastically improved to reduce this effect.
CPS
CAMERA MEASUREMENT ERROR CORRECTION
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