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- W2513536421 abstract "Professional drivers in `drifting' competitions are able to precisely negotiate a specified course at high sideslip angles while operating in an unstable region of state-space. Studying this practice could provide insight into autonomous car control during emergency maneuvers that excurse outside stable handling limits. This paper presents a simple and physically insightful controller for autonomous drifting with simultaneous tracking of a reference path. A feasible reference trajectory is treated as a sequence of unstable drifting equilibrium points, and a basic example is generated from vehicle parameters using a four-wheel model with steady-state weight transfer. Lookahead error and sideslip are chosen as reference states, and a controller for tracking both objectives around an equilibrium point is derived using a simpler single-track model. Experiments on the rear-wheel drive MARTY test vehicle demonstrate good tracking performance of both objectives even at values of sideslip as high as 45 degrees." @default.
- W2513536421 created "2016-09-16" @default.
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- W2513536421 date "2016-06-01" @default.
- W2513536421 modified "2023-10-17" @default.
- W2513536421 title "Simultaneous stabilization and tracking of basic automobile drifting trajectories" @default.
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- W2513536421 doi "https://doi.org/10.1109/ivs.2016.7535448" @default.
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