Control of a Scaled Vehicle in and Beyond Stable Limit Handling

被引：10

作者：

Baars, Mart ^{[1
,2
]}

Hellendoorn, Hans ^{[2
]}

Alirezaei, Mohsen ^{[3
,4
]}

机构：

[1] TNO, Dept Integrated Vehicle Safety, NL-5708 JZ Helmond, Netherlands

[2] Delft Univ Technol, NL-2628 Delft, Netherlands

[3] Siemens Ind Software & Serv, NL-5708 JZ Helmond, Netherlands

[4] Eindhoven Univ Technol, NL-5612 AZ Eindhoven, Netherlands

来源：

IEEE TRANSACTIONS ON VEHICULAR TECHNOLOGY | 2021年 / 70卷 / 07期

关键词：

Wheels; Tires; Automobiles; Mathematical model; Vehicle dynamics; Trajectory; Generators; Drift control; drifting; limit handling; scaled car;

D O I：

10.1109/TVT.2021.3085503

中图分类号：

TM [电工技术]; TN [电子技术、通信技术];

学科分类号：

0808 ; 0809 ;

摘要：

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.

引用

页码：6427 / 6437

页数：11

共 14 条

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