This paper presents a drifting stabilizing controller for a rear-wheel-driven car, leveraging on front tyre steering angle and longitudinal force developed by rear tyres, the same control inputs available to a human driver. The proposed controller is based on a linear-quadratic regulator designed on a linearised single-track model of the vehicle, so that both longitudinal and lateral velocities along with yaw rate are stabilized. The controller has been experimentally validated on a scaled car. An extensive experimental campaign has been performed to demonstrate the robustness of this approach along with its shortcomings, that will be addressed in future works.

An experimentally validated LQR approach to autonomous drifting stabilization

Bascetta, L
2019-01-01

Abstract

This paper presents a drifting stabilizing controller for a rear-wheel-driven car, leveraging on front tyre steering angle and longitudinal force developed by rear tyres, the same control inputs available to a human driver. The proposed controller is based on a linear-quadratic regulator designed on a linearised single-track model of the vehicle, so that both longitudinal and lateral velocities along with yaw rate are stabilized. The controller has been experimentally validated on a scaled car. An extensive experimental campaign has been performed to demonstrate the robustness of this approach along with its shortcomings, that will be addressed in future works.
2019
European Control Conference (ECC)
978-1-7281-1314-2
978-3-907144-00-8
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11311/1167339
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