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2020 | OriginalPaper | Chapter

Control of a Scaled Vehicle in and Beyond Stable Limit Handling

Authors: Mart Baars, Hans Hellendoorn, Mohsen Alirezaei

Published in: Advances in Dynamics of Vehicles on Roads and Tracks

Publisher: Springer International Publishing

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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.
Footnotes
1
A video of the implemented controller in typical cornering conditions can be found at: https://​youtu.​be/​aU6xPavFe4Q.
 
2
A video of the implemented controller in high sideslip conditions can be found at: https://​youtu.​be/​VWgdd5jgyuk.
 
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Metadata
Title
Control of a Scaled Vehicle in and Beyond Stable Limit Handling
Authors
Mart Baars
Hans Hellendoorn
Mohsen Alirezaei
Copyright Year
2020
DOI
https://doi.org/10.1007/978-3-030-38077-9_131

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