Control of a Scaled Vehicle in and Beyond Stable Limit Handling
Mart Baars, Hans Hellendoorn, Mohsen Alirezaei
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.
Topics & Concepts
Controller (irrigation)Control theory (sociology)Limit (mathematics)Sensitivity (control systems)Nonlinear systemPath (computing)Vehicle dynamicsTrack (disk drive)EngineeringControl engineeringTracking (education)Motion controlComputer scienceControl (management)Automotive engineeringMathematicsElectronic engineeringPhysicsAgronomyArtificial intelligencePsychologyMechanical engineeringBiologyRobotProgramming languageMathematical analysisQuantum mechanicsPedagogyVehicle Dynamics and Control SystemsControl and Dynamics of Mobile RobotsRobotic Path Planning Algorithms