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.
|Title of host publication||Advances in Dynamics of Vehicles on Roads and Tracks|
|Subtitle of host publication||Proceedings of the 26th Symposium of the International Association of Vehicle System Dynamics, IAVSD 2019|
|Editors||Matthijs Klomp, Fredrik Bruzelius, Jens Nielsen, Angela Hillemyr|
|Place of Publication||Cham, Switzerland|
|Publisher||Springer Science+Business Media|
|Publication status||Published - 2019|
|Event||26th Symposium of the International Association of Vehicle System Dynamics, IAVSD 2019 - Gothenburg, Sweden|
Duration: 12 Aug 2019 → 16 Aug 2019
|Name||Lecture Notes in Mechanical Engineering|
|Conference||26th Symposium of the International Association of Vehicle System Dynamics, IAVSD 2019|
|Period||12/08/19 → 16/08/19|
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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.
- Limit handling
- Scaled car