ELECTRIC RACECAR DIRECT YAW MOMENT CONTROL

As the term project for my class in state-space control theory, 2.151, we created an analytic model of an electric racecar using modified bicycle physics, which we evaluated numerically due to severe non-linearity. Then, to determine the optimal differential torque on the front wheels, we implemented an iterative-LQR control algorithm for the steering angle and the output torque of each motor, along with a Kalman filter observer. Our paper can be downloaded here, or a few highlights seen below.