Path control in limit handling and drifting conditions using State Dependent Riccati Equation technique
Artikel i vetenskaplig tidskrift, 2019

© IMechE 2019. 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.

Lateral control

drifting

State Dependent Riccati Equation

path tracking

limit handling

Författare

Erik Wachter

Student vid Chalmers

Mohsen Alirezaei

Nederlandse Organisatie voor toegepast-natuurwetenschappelijk onderzoek (TNO)

Fredrik Bruzelius

Chalmers, Mekanik och maritima vetenskaper, Fordonsteknik och autonoma system

Antoine Schmeitz

Nederlandse Organisatie voor toegepast-natuurwetenschappelijk onderzoek (TNO)

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

0954-4070 (ISSN)

Ämneskategorier

Farkostteknik

Robotteknik och automation

Reglerteknik

DOI

10.1177/0954407019850737

Mer information

Senast uppdaterat

2019-11-19