Title
Automated control beyond the limits of friction: A nonlinear model predictive approach for with production vehicle experimental verification
Author
Meijer, Stan (TU Delft Mechanical, Maritime and Materials Engineering)
Contributor
Shyrokau, B. (mentor) 
Bertipaglia, A. (graduation committee)
Degree granting institution
Delft University of Technology
BMW Group
Programme
Mechanical Engineering | Vehicle Engineering
Date
2023-07-11
Abstract
Abstract—This paper proposes a Nonlinear Model Predictive Control (NMPC) application for automated drifting, with exper- imental verification on a standard production vehicle, without hardware modifications. The controller stabilizes the vehicle on a high sideslip angle, which implies an equilibrium condition beyond tyre friction limits. The proposed control strategy shows feasible results that succesfully brings the vehicle towards a high sideslip state, for a variety of drifting scenarios. Simulations show that the control structure is able to sustain an automated drift along a desired path, with maximal lateral path deviation of 1 meter. An experimental implementation on a production vehicle testbench without hardware modifications has shown feasible control of bringing the vehicle into a high sideslip state, for both low- and high μ situations.
Subject
NMPC
Drifting
drift equilibria
steady-state drifting
path-following
OCP
To reference this document use:
http://resolver.tudelft.nl/uuid:b92b44be-91f6-4722-ada8-46f9be573f7b
Embargo date
2025-07-11
Part of collection
Student theses
Document type
master thesis
Rights
© 2023 Stan Meijer