Control of a Scaled Vehicle in and Beyond Stable Limit Handling
conference paper
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.
TNO Identifier
955347
ISSN
21954356
ISBN
9783030380762
Publisher
Springer
Source title
Lecture Notes in Mechanical Engineering, 26th Symposium of the International Association of Vehicle System Dynamics, IAVSD 2019, 12 August 2019 through 16 August 2019
Pages
1121-1128
Files
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