Control of a Scaled Vehicle in and beyond Stable Limit Handling
article
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
967836
ISSN
00189545
Source
IEEE Transactions on Vehicular Technology, 70(7), pp. 6427-6437.
Publisher
Institute of Electrical and Electronics Engineers Inc.
Article nr.
9444783
Pages
6427-6437
Files
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