Drifting Stabilization Along Circular Trajectories
Goal
Drifting control is the ability to maintain control of a drifting vehicle while executing high-speed, controlled sideslips around corners. The purpose of building a drifting controller can help prevent accidents and allow the vehicle to maintain high speeds and make precise maneuvers.
What was achieved
- Stabilized the side-slip angle to match different desired curvatures and realize drifting motion
- Achieved error dynamics and nonlinear model inversion to calculate desired operating points, steering angle, yaw rate, rear drive force and longitudinal velocity
- Designed LQR controller for steering angle and proportional control for rear drive force
- Held course angle error under 0.9 degrees and visualized the high side-slip maneuver process in Simulink