| Title: |
Path control in limit handling and drifting conditions using State Dependent Riccati Equation technique |
| Authors: |
Wachter, E.; Alirezaei, M.; Bruzelius, F.; Schmeitz, A. |
| Source: |
Proceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering |
| Publisher Information: |
SAGE Publications Ltd |
| Publication Year: |
2019 |
| Collection: |
TU Delft: Institutional Repository (Delft University of Technology) |
| Subject Terms: |
Drifting; Lateral control; Limit handling; Path tracking; State Dependent Riccati Equation; Safe and Clean Mobility; Mobility |
| Description: |
Tyres operated at or close to their friction limits show a highly nonlinear motion to force response. This state is called limit handling. The objective of this research is to minimize lateral path tracking error while the tyres operate in limit handling. The State Dependent Riccati Equation technique is employed to develop a feedback-feedforward steering controller. It gives a systematic approach to take into account model nonlinearities such as combined slip tyre characteristics. Furthermore, the controller is implemented in a test vehicle and tested on a low friction skid pad. The controller shows robust path tracking performance even when the rear wheels are operated beyond their friction limits, and large body sideslip prevails. |
| Document Type: |
article in journal/newspaper |
| Language: |
English |
| Relation: |
uuid:ef568b56-c496-486c-92ef-9db5a9af6856; 867821; http://resolver.tudelft.nl/uuid:ef568b56-c496-486c-92ef-9db5a9af6856 |
| Availability: |
http://resolver.tudelft.nl/uuid:ef568b56-c496-486c-92ef-9db5a9af6856 |
| Accession Number: |
edsbas.B3376F7D |
| Database: |
BASE |