@article{ref1,
title="Analysis and control of high sideslip manoeuvres",
journal="Vehicle system dynamics",
year="2010",
author="Voser, Christoph and Hindiyeh, Rami Y. and Gerdes, J. Christian",
volume="48",
number="Suppl 1",
pages="317-336",
abstract="This paper presents simple analytical techniques that are used to understand and control high sideslip drift manoeuvres of road vehicles. These are manoeuvres in which a skilled driver stabilises a vehicle beyond its limits of handling, an operating regime responsible for major safety concerns in everyday driving. An analysis of the equilibria of a bicycle model with nonlinear tyres reveals the existence of unstable 'drift equilibria' corresponding to cornering at high sideslip angle in a countersteer configuration. Equipped with this information, linearisation about a desired drift equilibrium is used to design a controller that stabilises the vehicle at the equilibrium. The controller is subsequently implemented on a steer- and drive-by-wire testbed and successfully used to achieve autonomous drifts.<p />",
language="en",
issn="0042-3114",
doi="10.1080/00423111003746140",
url="http://dx.doi.org/10.1080/00423111003746140"
}