1. 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):051015-051015-9. doi:10.1115/1.4027471 Bicycle model of a RWD vehicle Figure Legend:

2. 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):051015-051015-9. doi:10.1115/1.4027471 P1, a by-wire test vehicle Figure Legend:

3. 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):051015-051015-9. doi:10.1115/1.4027471 Equilibrium sideslip versus steer angle, U x = 8 m/s Figure Legend:

4. 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):051015-051015-9. doi:10.1115/1.4027471 Equilibrium yaw rate versus steer angle, U x = 8 m/s Figure Legend:

5. 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):051015-051015-9. doi:10.1115/1.4027471 Equilibrium rear longitudinal force versus steer angle, U x = 8 m/s Figure Legend:

6. 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):051015-051015-9. doi:10.1115/1.4027471 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:

7. 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):051015-051015-9. doi:10.1115/1.4027471 Equilibrium front lateral force versus steer angle, U x = 8 m/s. The front tire friction limits are indicated by dashed lines. Figure Legend:

8. 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):051015-051015-9. doi:10.1115/1.4027471 Flow field of sideslip and yaw rate state derivatives for Ux = Uxeq = 8 m/s indicating an open-loop unstable drift equilibrium Figure Legend:

9. 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):051015-051015-9. doi:10.1115/1.4027471 2D 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:

10. 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):051015-051015-9. doi:10.1115/1.4027471 Sideslip compared to βeq (top) and yaw rate compared to r des (bottom) during experimental run Figure Legend:

11. 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):051015-051015-9. doi:10.1115/1.4027471 Front lateral force command (top) and steering command (bottom) during experimental run Figure Legend:

12. 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):051015-051015-9. doi:10.1115/1.4027471 Longitudinal velocity (top) and rear drive force command (bottom) during experimental run Figure Legend: