飄移是一項極具困難度的駕駛技巧，需要經過經驗的累積才有辦法達成，透過油門以及剎車的控制，車子可以獲得一個較大的側向滑行力來產生飄移的現象，本篇旨在對真實模型車進行建模，建立其具有飄移特性的非線性模型，並對其進行分析，找出其平衡點，有關平衡點的細節將在第五章詳細討論，且在模擬中藉由LQR控制能夠讓車子達到維持連續的漂移現象。
在實地驗證控制的部分，使用MPC控制理論，藉由車手預先設定好的軌跡以及操控數據，讓MPC控制理論使用最佳化的方式求解出控制輸入來達成與事先規劃的路線相似的飄移情形，有關詳細控制理論將在第六章進行探討。

Drifting represents an extreme maneuver that is beyond the skill set of the average people, requiring skillful timing of pedal brake, handbrake and steering wheel. Driver causes the vehicle to rotate rapidly and slide, into the unstable situation. This paper investigates the analysis of unstable drifting condition, equilibrium point analysis and identify the slip vehicle model, in order to propose a control strategy to make automatically drifting possible. The parameters for the model are identified in Chapter 3 & 4 and the simulation results of the modelled vehicle are compared to measured experimental data. When talking about the high side-slip maneuvers, it falls into one of two categories: sustained drift and transient drift. Sustained drift focuses on stabilizing the vehicle around an unstable equilibrium (also call steady state circular drifting), while transient drift focuses on entirely maintaining a drift state. To the authors’ knowledge, all experimental validation for drift control algorithms have used a motion capture system or a differential GPS system. However, due to the reality consideration, here use only the Extended Kalman Filter with necessary sensors to estimate the system state. For the purpose of presenting a steady state drifting, the modelled vehicle equilibrium point analysis is discussed in Chapter 5. Then a Linear Quadratic Regulator control algorithm is designed to control the system from normal stable situation into unstable drifting condition in simulation. In experiment, the Model Predictive Control is implement on the 1:10 RC car to achieve transient autonomous drift, and the details will be discussed in Chapter 6.

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