On full MAGV lateral dynamics exploitation: Autonomous Drift Control

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Abstract

This paper explores the maximisation of the vehicle lateral dynamics on off-road conditions by means of active drifting and optimised wheel torque allocation. An Autonomous Drift Control (ADC) system based on a hierarchical control architecture is proposed to achieve this task. Specifically, the ADC consists of a high level layer that generates the state references and feedforward inputs to follow a reference path at a given body slip angle, and a low level Model Predictive Controller that coordinates the action of an Active Front Steering (AFS) system and four individual electric motors to track the upper level drift references. The performance of the proposed system is assessed in a Multi-Actuated Ground Vehicle (MAGV) using the simulation software IPG-CarMaker. Results evidence the ability of the proposed system to perform agile drifting manoeuvres. Essentially, the vehicle is able to follow tight road paths and maintain stability at high body slip angles, currently not feasible with other active safety technologie

Original languageEnglish
Title of host publication15th International Workshop on Advanced Motion Control (IEEE AMC2018), Tokyo
PublisherIEEE
ISBN (Print)9781538619452
DOIs
Publication statusPublished - 1 Mar 2018
Event15th International Workshop on Advanced Motion Control - Tokyo, Japan
Duration: 9 Mar 201811 Mar 2018
http://ewh.ieee.org/conf/amc/2018/

Publication series

Name
ISSN (Electronic)1943-6580

Conference

Conference15th International Workshop on Advanced Motion Control
Abbreviated titleIEEE AMC 2018
CountryJapan
CityTokyo
Period9/03/1811/03/18
Internet address

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Cite this

Acosta, M., Kanarachos, S., & Fitzpatrick, M. (2018). On full MAGV lateral dynamics exploitation: Autonomous Drift Control. In 15th International Workshop on Advanced Motion Control (IEEE AMC2018), Tokyo IEEE. https://doi.org/10.1109/AMC.2019.8371149