Control of a Scaled Vehicle in and beyond Stable Limit Handling
Mart Baars (Student TU Delft, TNO)
Hans Hellendoorn (TU Delft - Cognitive Robotics)
Mohsen Alirezaei (Siemens Industry Software and Services B.V, Eindhoven University of Technology)
More Info
expand_more
Other than for strictly personal use, it is not permitted to download, forward or distribute the text or part of it, without the consent of the author(s) and/or copyright holder(s), unless the work is under an open content license such as Creative Commons.
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.