Control of a Scaled Vehicle in and Beyond Stable Limit Handling

Conference paper
Part of the Lecture Notes in Mechanical Engineering book series (LNME)


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.


Autonomous Drifting Limit handling Scaled car 


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Copyright information

© Springer Nature Switzerland AG 2020

Authors and Affiliations

  1. 1.Delft University of TechnologyDelftThe Netherlands
  2. 2.Department of Integrated Vehicle SafetyTNOHelmondThe Netherlands

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