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Motion-Based Slide Correction Controller for Autonomous Vehicles
Thesis (MEng)--Stellenbosch University, 2026.
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| Other Authors: | |
| Format: | Thesis |
| Language: | English |
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Stellenbosch : Stellenbosch University
2026
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| _version_ | 1867614032236642304 |
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| access_status_str | Open Access |
| author | Chetty, Brandon |
| author2 | Jordaan, H. W. |
| author_browse | Chetty, Brandon Jordaan, H. W. |
| author_facet | Jordaan, H. W. Chetty, Brandon |
| author_sort | Chetty, Brandon |
| collection | Thesis |
| dc_rights_str_mv | Stellenbosch University |
| description | Thesis (MEng)--Stellenbosch University, 2026. |
| format | Thesis |
| id | oai:scholar.sun.ac.za:10019.1/135679 |
| institution | Stellenbosch University (South Africa) |
| language | English |
| last_indexed | 2026-06-10T12:45:35.384Z |
| license_str | Other — see source repository |
| provenance_str_mv | Harvested via OAI-PMH from SUNScholar — Stellenbosch University Repository |
| publishDate | 2026 |
| publishDateRange | 2026 |
| publishDateSort | 2026 |
| publisher | Stellenbosch : Stellenbosch University |
| publisherStr | Stellenbosch : Stellenbosch University |
| record_format | dspace |
| source_str | SUNScholar — Stellenbosch University Repository |
| spelling | oai:scholar.sun.ac.za:10019.1/135679 Motion-Based Slide Correction Controller for Autonomous Vehicles Chetty, Brandon Jordaan, H. W. Evans, B. D. Stellenbosch University. Faculty of Engineering. Dept. of Electrical & Electronic Engineering. Thesis (MEng)--Stellenbosch University, 2026. Chetty, B. 2026. Motion-Based Slide Correction Controller for Autonomous Vehicles. Unpublished masters thesis. Stellenbosch: Stellenbosch University [online]. Available: https://scholar.sun.ac.za/items/bdc356b5-8247-4165-b724-cd6c440eed55 The automotive industry has successfully deployed robust sliding stability control systems. However, the rapidly expanding and heterogeneous field of wheeled robotics lacks an equivalent, standardised solution for managing slides. Existing methods are often model-dependent, requiring extensive, platform-specific characterisation that is impractical at the scale of robotic development. This thesis addresses this gap by developing a universal, motion-based Slide Correction Controller (SCC) inspired by the intuitive, model-free techniques of skilled human drivers. The core philosophy is to correct slides by focusing on the vehicle’s observable kinematics rather than its underlying dynamics. The foundation of the SCC is a universal mathematical framework that defines a slide as the error between the vehicle’s actual and expected body motion, calculated from wheel kinematics (eslide = vactual − vmodelled). This platform-agnostic principle enables the detection of all primary slide types: wheel-lock, wheel-spin, oversteer, and understeer. The SCC architecture integrates two specialised modules: a Longitudinal Sliding Mode Controller (LSMC) that manages translational slip using non-linear control, and a Yaw Rate Controller (YRC) that addresses rotational slip through a novel, model-free implementa-tion of active counter-steering. High-fidelity simulation environments for two kinematically distinct platforms, a lightweight Ackermann-steered vehicle (RoboRacer) and a heavy differential-drive robot (Voyager), were developed. The SCC was created using these en-vironments, with systematic parameter tuning and robustness testing against variations in friction, mass, and vehicle geometry. The controller’s platform-agnostic design was tested by deploying the SCC, with minimal retuning. The YRC’s performance was validated on both real-world hardware platforms, where it successfully corrected slides induced by aggressive manoeuvres and external disturbances, confirming its cause-agnostic capabilities. The results demonstrate that the integrated SCC is essential for navigating complex, compound slide events (such as emergency avoidance manoeuvres or sudden friction transitions) where individual longitudinal or lateral controllers fail. This research concludes that the motion-based control philosophy provides an effective foundation for a universal slide correction system, offering a robust safety layer that can enhance the stability of a wide range of autonomous wheeled vehicles. Masters 2026-04-07T13:47:35Z 2026-04-07T13:47:35Z 2026-03 Thesis https://scholar.sun.ac.za/handle/10019.1/135679 en Stellenbosch University 156 pages : ill. application/pdf Stellenbosch : Stellenbosch University |
| spellingShingle | Chetty, Brandon Motion-Based Slide Correction Controller for Autonomous Vehicles |
| title | Motion-Based Slide Correction Controller for Autonomous Vehicles |
| title_full | Motion-Based Slide Correction Controller for Autonomous Vehicles |
| title_fullStr | Motion-Based Slide Correction Controller for Autonomous Vehicles |
| title_full_unstemmed | Motion-Based Slide Correction Controller for Autonomous Vehicles |
| title_short | Motion-Based Slide Correction Controller for Autonomous Vehicles |
| title_sort | motion based slide correction controller for autonomous vehicles |
| url | https://scholar.sun.ac.za/handle/10019.1/135679 |
| work_keys_str_mv | AT chettybrandon motionbasedslidecorrectioncontrollerforautonomousvehicles |