Simultaneous stabilization and tracking of basic automobile drifting trajectories

@article{Goh2016SimultaneousSA,
  title={Simultaneous stabilization and tracking of basic automobile drifting trajectories},
  author={Jonathan Y. Goh and J. Christian Gerdes},
  journal={2016 IEEE Intelligent Vehicles Symposium (IV)},
  year={2016},
  pages={597-602}
}
Professional drivers in `drifting' competitions are able to precisely negotiate a specified course at high sideslip angles while operating in an unstable region of state-space. Studying this practice could provide insight into autonomous car control during emergency maneuvers that excurse outside stable handling limits. This paper presents a simple and physically insightful controller for autonomous drifting with simultaneous tracking of a reference path. A feasible reference trajectory is… CONTINUE READING