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Control of a Scaled Vehicle in and Beyond Stable Limit Handling

Conference Paper (2019)
Author(s)

Mart Baars (Student TU Delft, TNO)

Hans Hellendoorn (TU Delft - Cognitive Robotics)

Mohsen Alirezaei (TNO)

DOI related publication
https://doi.org/10.1007/978-3-030-38077-9_131 Final published version
More Info
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Publication Year
2019
Language
English
Bibliographical Note
Green Open Access added to TU Delft Institutional Repository 'You share, we take care!' - Taverne project https://www.openaccess.nl/en/you-share-we-take-care Otherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public.
Pages (from-to)
1121-1128
Publisher
Springer
ISBN (print)
978-3-030-38076-2
ISBN (electronic)
978-3-030-38077-9
Event
Downloads counter
144
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Institutional Repository
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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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