Control of a Scaled Vehicle in and beyond Stable Limit Handling

Mart Baars; Hans Hellendoorn; Mohsen Alirezaei

doi:10.1109/TVT.2021.3085503

Control of a Scaled Vehicle in and beyond Stable Limit Handling

Mart Baars, Hans Hellendoorn, Mohsen Alirezaei^*

^*Corresponding author for this work

Cognitive Robotics

Research output: Contribution to journal › Article › Scientific › peer-review

3 Citations (Scopus)

32 Downloads (Pure)

Abstract

In this research a controller is developed that can control path-tracking both within and beyond stable limit handling. The controller is based on the equations of motion of the nonlinear bicycle model. The performance of the controller is evaluated in simulation, a sensitivity analysis is performed and the controller is implemented on a 1/10 scale radio controlled car. The controller is able to track a path in normal driving conditions and let the vehicle enter and maintain a drift while remaining close to the desired path.

Original language	English
Pages (from-to)	6427-6437
Journal	IEEE Transactions on Vehicular Technology
Volume	70
Issue number	7
DOIs	https://doi.org/10.1109/TVT.2021.3085503
Publication status	Published - 2021

Bibliographical note

Green Open Access added to TU Delft Institutional Repository 'You share, we take care!' - Taverne project https://www.openaccess.nl/en/you-share-we-take-care
Otherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public.

Keywords

Drift control
drifting
limit handling
scaled car

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10.1109/TVT.2021.3085503

Control_of_a_Scaled_Vehicle_in_and_Beyond_Stable_Limit_Handling-1Final published version, 2.58 MB

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title = "Control of a Scaled Vehicle in and beyond Stable Limit Handling",

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AU - Hellendoorn, Hans

AU - Alirezaei, Mohsen

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N2 - In this research a controller is developed that can control path-tracking both within and beyond stable limit handling. The controller is based on the equations of motion of the nonlinear bicycle model. The performance of the controller is evaluated in simulation, a sensitivity analysis is performed and the controller is implemented on a 1/10 scale radio controlled car. The controller is able to track a path in normal driving conditions and let the vehicle enter and maintain a drift while remaining close to the desired path.

AB - In this research a controller is developed that can control path-tracking both within and beyond stable limit handling. The controller is based on the equations of motion of the nonlinear bicycle model. The performance of the controller is evaluated in simulation, a sensitivity analysis is performed and the controller is implemented on a 1/10 scale radio controlled car. The controller is able to track a path in normal driving conditions and let the vehicle enter and maintain a drift while remaining close to the desired path.

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IS - 7

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Control of a Scaled Vehicle in and beyond Stable Limit Handling

Abstract

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Keywords

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