Control of a Scaled Vehicle in and Beyond Stable Limit Handling

In this research a controller is developed that can control path-tracking both within and beyond stable limit handling. The controller is based on the equations of motion of the nonlinear bicycle model. The performance of the controller is evaluated in simulation, a sensitivity analysis is performed and the controller is implemented on a 1/10 scale radio controlled car. The controller is able to track a path in normal driving conditions and let the vehicle enter and maintain a drift while remaining close to the desired path.