Date of download: 5/29/2016 Copyright © ASME. All rights reserved. From: A Controller Framework for Autonomous Drifting: Design, Stability, and Experimental Validation J. Dyn. Sys., Meas., Control. 2014;136(5): doi: / Bicycle model of a RWD vehicle Figure Legend:

Date of download: 5/29/2016 Copyright © ASME. All rights reserved. From: A Controller Framework for Autonomous Drifting: Design, Stability, and Experimental Validation J. Dyn. Sys., Meas., Control. 2014;136(5): doi: / P1, a by-wire test vehicle Figure Legend:

Date of download: 5/29/2016 Copyright © ASME. All rights reserved. From: A Controller Framework for Autonomous Drifting: Design, Stability, and Experimental Validation J. Dyn. Sys., Meas., Control. 2014;136(5): doi: / Equilibrium sideslip versus steer angle, U x = 8 m/s Figure Legend:

Date of download: 5/29/2016 Copyright © ASME. All rights reserved. From: A Controller Framework for Autonomous Drifting: Design, Stability, and Experimental Validation J. Dyn. Sys., Meas., Control. 2014;136(5): doi: / Equilibrium yaw rate versus steer angle, U x = 8 m/s Figure Legend:

Date of download: 5/29/2016 Copyright © ASME. All rights reserved. From: A Controller Framework for Autonomous Drifting: Design, Stability, and Experimental Validation J. Dyn. Sys., Meas., Control. 2014;136(5): doi: / Equilibrium rear longitudinal force versus steer angle, U x = 8 m/s Figure Legend:

Date of download: 5/29/2016 Copyright © ASME. All rights reserved. From: A Controller Framework for Autonomous Drifting: Design, Stability, and Experimental Validation J. Dyn. Sys., Meas., Control. 2014;136(5): doi: / Magnitude of total rear force versus steer angle, U x = 8 m/s. The rear tire friction limit is indicated by a dashed line. Figure Legend:

Date of download: 5/29/2016 Copyright © ASME. All rights reserved. From: A Controller Framework for Autonomous Drifting: Design, Stability, and Experimental Validation J. Dyn. Sys., Meas., Control. 2014;136(5): doi: / Equilibrium front lateral force versus steer angle, U x = 8 m/s. The front tire friction limits are indicated by dashed lines. Figure Legend:

Date of download: 5/29/2016 Copyright © ASME. All rights reserved. From: A Controller Framework for Autonomous Drifting: Design, Stability, and Experimental Validation J. Dyn. Sys., Meas., Control. 2014;136(5): doi: / Flow field of sideslip and yaw rate state derivatives for Ux = Uxeq = 8 m/s indicating an open-loop unstable drift equilibrium Figure Legend:

Date of download: 5/29/2016 Copyright © ASME. All rights reserved. From: A Controller Framework for Autonomous Drifting: Design, Stability, and Experimental Validation J. Dyn. Sys., Meas., Control. 2014;136(5): doi: / D sections of invariant set, U x = 8–8.6 m/s. The eigenvector corresponding to the stable eigenvalue of the open-loop linearization is shown with a dashed line. Figure Legend:

Date of download: 5/29/2016 Copyright © ASME. All rights reserved. From: A Controller Framework for Autonomous Drifting: Design, Stability, and Experimental Validation J. Dyn. Sys., Meas., Control. 2014;136(5): doi: / Sideslip compared to βeq (top) and yaw rate compared to r des (bottom) during experimental run Figure Legend:

Date of download: 5/29/2016 Copyright © ASME. All rights reserved. From: A Controller Framework for Autonomous Drifting: Design, Stability, and Experimental Validation J. Dyn. Sys., Meas., Control. 2014;136(5): doi: / Front lateral force command (top) and steering command (bottom) during experimental run Figure Legend:

Date of download: 5/29/2016 Copyright © ASME. All rights reserved. From: A Controller Framework for Autonomous Drifting: Design, Stability, and Experimental Validation J. Dyn. Sys., Meas., Control. 2014;136(5): doi: / Longitudinal velocity (top) and rear drive force command (bottom) during experimental run Figure Legend: