Path control in limit handling and drifting conditions using State Dependent Riccati Equation technique
Journal article, 2020

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.

path tracking

State Dependent Riccati Equation

Lateral control

limit handling



Erik Wachter

Student at Chalmers

Mohsen Alirezaei

Netherlands Organisation for Applied Scientific Research (TNO)

Fredrik Bruzelius

Chalmers, Mechanics and Maritime Sciences, Vehicle Engineering and Autonomous Systems

Antoine Schmeitz

Netherlands Organisation for Applied Scientific Research (TNO)

Proceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering

0954-4070 (ISSN)

Vol. 234 2-3 783-791

Subject Categories

Vehicle Engineering


Control Engineering



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