The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)
Online ISSN : 2424-3124
2013
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2A1-Q08 Stabilization of Steady-state Circular Drift of an Electric Vehicle(Car Robotics & ITS)
Hiroshi NAKANOKen OKAYAMAJun KINUGAWAKazuhiro KOSUGE
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CONFERENCE PROCEEDINGS FREE ACCESS

Pages _2A1-Q08_1-_2A1-Q08_2

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Abstract
Most of conventional vehicle motion control algorithms have been developed assuming that the relation between the tire-road friction and the slip rate of the tire is linear. Designing a control scheme, assuming that the relation is no more linear, could enhance the safety of the vehicle. In this study, a sliding mode controller is designed for a steady-state circular drift of a vehicle, where the linearity does not hold. Simulation results show that the vehicle motion could be stabilized by the proposed control system.
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© 2013 The Japan Society of Mechanical Engineers
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