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 language | English |
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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 |
Pages | 1121-1128 |
ISBN (Electronic) | 978-3-030-38077-9 |
ISBN (Print) | 978-3-030-38076-2 |
DOIs | |
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 |
Publication series
Name | Lecture Notes in Mechanical Engineering |
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ISSN (Print) | 2195-4356 |
ISSN (Electronic) | 2195-4364 |
Conference
Conference | 26th Symposium of the International Association of Vehicle System Dynamics, IAVSD 2019 |
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Country/Territory | Sweden |
City | Gothenburg |
Period | 12/08/19 → 16/08/19 |
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-careOtherwise 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
- Autonomous
- Drifting
- Limit handling
- Scaled car