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 language | English |
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| Title of host publication | 15th International Workshop on Advanced Motion Control (IEEE AMC2018), Tokyo |
| Publisher | IEEE |
| ISBN (Print) | 9781538619452 |
| DOIs | |
| Publication status | Published - 1 Mar 2018 |
| Event | 15th International Workshop on Advanced Motion Control - Tokyo, Japan Duration: 9 Mar 2018 → 11 Mar 2018 http://ewh.ieee.org/conf/amc/2018/ |
Publication series
| Name | |
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| ISSN (Electronic) | 1943-6580 |
Conference
| Conference | 15th International Workshop on Advanced Motion Control |
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| Abbreviated title | IEEE AMC 2018 |
| Country/Territory | Japan |
| City | Tokyo |
| Period | 9/03/18 → 11/03/18 |
| Internet address |