Control of a Scaled Vehicle in and Beyond Stable Limit Handling

Mart Baars, Hans Hellendoorn, Mohsen Alirezaei

Research output: Chapter in Book/Conference proceedings/Edited volumeConference contributionScientificpeer-review

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Abstract

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

Original languageEnglish
Title of host publicationAdvances in Dynamics of Vehicles on Roads and Tracks
Subtitle of host publicationProceedings of the 26th Symposium of the International Association of Vehicle System Dynamics, IAVSD 2019
EditorsMatthijs Klomp, Fredrik Bruzelius, Jens Nielsen, Angela Hillemyr
Place of PublicationCham, Switzerland
PublisherSpringer
Pages1121-1128
ISBN (Electronic)978-3-030-38077-9
ISBN (Print)978-3-030-38076-2
DOIs
Publication statusPublished - 2019
Event26th Symposium of the International Association of Vehicle System Dynamics, IAVSD 2019 - Gothenburg, Sweden
Duration: 12 Aug 201916 Aug 2019

Publication series

NameLecture Notes in Mechanical Engineering
ISSN (Print)2195-4356
ISSN (Electronic)2195-4364

Conference

Conference26th Symposium of the International Association of Vehicle System Dynamics, IAVSD 2019
CountrySweden
CityGothenburg
Period12/08/1916/08/19

Keywords

  • Autonomous
  • Drifting
  • Limit handling
  • Scaled car

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