Control of a Scaled Vehicle in and beyond Stable Limit Handling

Journal article (2021)

Authors

Mart Baars TNO, Student
J. Hellendoorn Cognitive Robotics
Mohsen Alirezaei Siemens Industry Software and Services B.V, Eindhoven University of Technology
Department
Cognitive Robotics
Copyright: © 2021 Mart Baars, J. Hellendoorn, Mohsen Alirezaei
DOI: https://doi.org/10.1109/TVT.2021.3085503
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Published Date

2021

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. 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.

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