Handling characteristics and stability of the steady-state powerslide motion of an automobile

A Torque Vectoring Control for Enhancing Vehicle Performance in Drifting

“…Both Edelmann et al [6] and Velenis et al [7] developed controllers for a rear-wheel drive (RWD) vehicle by coordinating front steering and rear drive torques in order to drift a vehicle.…”

“…In both cases, the controller was designed by linearizing a vehicle model at one of its drift equilibria and using full state feedback to compute steering and rear drive torque inputs that stabilize the linearized model in closed-loop. Gain selection was accomplished using multiple-input multiple-output (MIMO) design techniques, specifically pole placement in [6] and linear quadratic regulator (LQR) techniques in [7]. When implemented on nonlinear systems, both controllers successfully stabilized a neighborhood around the desired equilibrium, although their design could only tolerate moderate disturbances.…”

Robust power-slide control for a production vehicle

“…This provides valuable information (Edelmann and Plöchl, 2009;Hindiyeh and Gerdes, 2009;Voser et al, 2010;Velenis et al, 2011;Velenis, 2011) for designing sportive Dynamic Stability Control (DSC) systems, which support the driver with automatic single wheel braking and throttle/torque control. This provides valuable information (Edelmann and Plöchl, 2009;Hindiyeh and Gerdes, 2009;Voser et al, 2010;Velenis et al, 2011;Velenis, 2011) for designing sportive Dynamic Stability Control (DSC) systems, which support the driver with automatic single wheel braking and throttle/torque control.…”

Controllability of the powerslide motion of an automobile with different actuation inputs

“…Involved driving situations have to be mastered by active systems with multiple, sometimes redundant actuators, or eventually by applying different control commands by the driver. As an example, the steady-state powerslide of an automobile (large side slip angle, negative steering angle, large rear drive torque) is considered here as a manoeuvre characterized by nonlinear tyre characteristics and saturated horizontal tyre forces, [3]. Due to its typically unstable nature, [3], the powerslide motion has to be stabilized either by the driver or an active system by controlling the steering angle and/or the accelerator pedal.…”

“…As an example, the steady-state powerslide of an automobile (large side slip angle, negative steering angle, large rear drive torque) is considered here as a manoeuvre characterized by nonlinear tyre characteristics and saturated horizontal tyre forces, [3]. Due to its typically unstable nature, [3], the powerslide motion has to be stabilized either by the driver or an active system by controlling the steering angle and/or the accelerator pedal. Consequences, and an appropriate driver model have been presented in [4].…”