Print Email Facebook Twitter Path control in limit handling and drifting conditions using State Dependent Riccati Equation technique Title Path control in limit handling and drifting conditions using State Dependent Riccati Equation technique Author Wachter, E. Alirezaei, M. Bruzelius, F. Schmeitz, A. Publication year 2019 Abstract Tyres operated at or close to their friction limits show a highly nonlinear motion to force response. This state is called limit handling. The objective of this research is to minimize lateral path tracking error while the tyres operate in limit handling. The State Dependent Riccati Equation technique is employed to develop a feedback-feedforward steering controller. It gives a systematic approach to take into account model nonlinearities such as combined slip tyre characteristics. Furthermore, the controller is implemented in a test vehicle and tested on a low friction skid pad. The controller shows robust path tracking performance even when the rear wheels are operated beyond their friction limits, and large body sideslip prevails. Subject Safe and Clean MobilityMobilityDriftingLateral controlLimit handlingPath trackingState Dependent Riccati Equation To reference this document use: http://resolver.tudelft.nl/uuid:ef568b56-c496-486c-92ef-9db5a9af6856 DOI https://doi.org/10.1177/0954407019850737/ TNO identifier 867821 Publisher SAGE Publications Ltd ISSN 9544-070 Source Proceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering Document type article Files To receive the publication files, please send an e-mail request to TNO Library.