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Analysis of Drifting for a Remotely Controlled Car
Norwegian University of Science and Technology, Faculty of Information Technology, Mathematics and Electrical Engineering, Department of Engineering Cybernetics.
2012 (English)MasteroppgaveStudent thesis
Abstract [en]

Abstract By restricting a vehicle to the linear region of operation, with a small sideslip angle, a vehicle cannot achieve its full potential. By entering the nonlinear region of operation tighter corners can be achieved and some accidents could be prevented. Research is currently being conducted to introduce drifting into vehicle safety systems, which currently restrict the vehicle to the linear region of operation. Vehicle drifting has been shown to have unstable equilibria, while still maintaining controllability. In this thesis, equilibria with sideslip angles ranging from -30 degrees to 30 are found for a nonlinear two-track model simulator. Analysis showed that simple mappings could be made between the states and the inputs, and between the states themselves. All the linearised systems in these equilibria were found to be unstable, which coincides with current research. In addition, this thesis presents an adaptive backstepping controller, which is used for converge to an arbitrary sideslip angle, and when the drift is being initialised the controller mimics the behaviour of Power Over drifting technique. The adaptive part of the backstepping controller is used as integral action that, by the use of adaptation, finds the stationary deviation between the yaw rate and the desired yaw rate, which is added to the control law. A mapping between the desired sideslip angle and the desired yaw rate is used in a feed forward term such that the desired sideslip angle is achieved when the yaw rate converges. The controller has been tested with a modified Line Of Sight guidance system which provided the controller with a desired sideslip angle. Robust response with respect to changes in vehicle mass and inertia was observed.

Place, publisher, year, edition, pages
Institutt for teknisk kybernetikk , 2012. , 116 p.
Keyword [no]
ntnudaim:7042, MTTK teknisk kybernetikk,
URN: urn:nbn:no:ntnu:diva-16829Local ID: ntnudaim:7042OAI: diva2:536496
Available from: 2012-06-21 Created: 2012-06-21

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