Control of a Scaled Vehicle in and Beyond Stable Limit Handling

Baars, Mart; Hellendoorn, J.; Alirezaei, Mohsen

doi:10.1007/978-3-030-38077-9_131

Control of a Scaled Vehicle in and Beyond Stable Limit Handling

Conference paper (2019)

Authors

Mart Baars Student, TNO

J. Hellendoorn Cognitive Robotics

Mohsen Alirezaei TNO

Department

Cognitive Robotics

DOI: https://doi.org/10.1007/978-3-030-38077-9_131

Autonomous Drifting Limit handling Scaled car

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Published Date

2019

Language

English

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Department

Cognitive Robotics

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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