Control of a Scaled Vehicle in and beyond Stable Limit Handling

Mart Baars, Hans Hellendoorn, Mohsen Alirezaei*

*Corresponding author for this work

Research output: Contribution to journalArticleScientificpeer-review

3 Citations (Scopus)
36 Downloads (Pure)


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 languageEnglish
Pages (from-to)6427-6437
JournalIEEE Transactions on Vehicular Technology
Issue number7
Publication statusPublished - 2021

Bibliographical note

Green Open Access added to TU Delft Institutional Repository 'You share, we take care!' - Taverne project
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.


  • Drift control
  • drifting
  • limit handling
  • scaled car


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