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.
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Notes
- 1.
A video of the implemented controller in typical cornering conditions can be found at: https://youtu.be/aU6xPavFe4Q.
- 2.
A video of the implemented controller in high sideslip conditions can be found at: https://youtu.be/VWgdd5jgyuk.
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Baars, M., Hellendoorn, H., Alirezaei, M. (2020). Control of a Scaled Vehicle in and Beyond Stable Limit Handling. In: Klomp, M., Bruzelius, F., Nielsen, J., Hillemyr, A. (eds) Advances in Dynamics of Vehicles on Roads and Tracks. IAVSD 2019. Lecture Notes in Mechanical Engineering. Springer, Cham. https://doi.org/10.1007/978-3-030-38077-9_131
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DOI: https://doi.org/10.1007/978-3-030-38077-9_131
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