Lateral Path Tracking in Limit Handling Condition using SDRE Control

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dc.contributor.authorWachter, Erik
dc.contributor.departmentChalmers tekniska högskola / Institutionen för tillämpad mekaniksv
dc.contributor.departmentChalmers University of Technology / Department of Applied Mechanicsen
dc.date.accessioned2019-07-03T14:24:32Z
dc.date.available2019-07-03T14:24:32Z
dc.date.issued2016
dc.description.abstractTires operated at or close to their friction limits show a highly nonlinear force response. This state is called limit handling condition. The objective of this research is to minimize lateral path tracking error whilst the tires operate in limit handling. The State Dependent Riccati Equation (SDRE) 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 tire characteristics. Furthermore the controller was implemented on real-time hardware and tested on a test track. The controller shows reliable path tracking performance up to the friction limits and also for conditions with large body sideslip angle, also referred to as ”Drifting”. Additionally a linear throttle controller was implemented to achieve autonomous body slip control on top of the path control. Experimental evaluation of this controller also showed promising results in terms of combined position and vehicle state control.
dc.identifier.urihttps://hdl.handle.net/20.500.12380/246633
dc.language.isoeng
dc.relation.ispartofseriesDiploma work - Department of Applied Mechanics, Chalmers University of Technology, Göteborg, Sweden : 2016:63
dc.setspec.uppsokTechnology
dc.subjectTransport
dc.subjectReglerteknik
dc.subjectFarkostteknik
dc.subjectTransport
dc.subjectControl Engineering
dc.subjectVehicle Engineering
dc.titleLateral Path Tracking in Limit Handling Condition using SDRE Control
dc.type.degreeExamensarbete för masterexamensv
dc.type.degreeMaster Thesisen
dc.type.uppsokH
local.programmeProduct development (MPPDE), MSc
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