Output-Feedback H _∞ Path Tracking Control for Autonomous Vehicle Considering Model Uncertainty and Parameter Perturbation

The coupling effect of vehicle motion and nonlinear characteristics cause the complexity of the vehicle dynamic model, which brings challenge on balancing control accuracy and computational efficiency for controller designing. To deal with the model uncertainty caused by the perturbation of the tire cornering stiffness and vehicle speed, an output-feedback robust path tracking control architecture for autonomous vehicle is proposed in this paper. Firstly, the 2-DOF vehicle dynamic model is established via linear parameter varying(LPV) state-space equation. Then considering the measurement of all state need expensive sensors, the output-feedback based robust control algorithm is designed considering the H_∞ disturbance attenuation performance. The asymptotic stability of the closed-loop path tracking system is proved by Lyapunov function. Finally, the Simulink/Carsim co-simulation platform is adopted to reveal the control performance of the robust control algorithm. The simulation results demonstrate that the proposed controller provides stable tracking performance and good robustness under complex working conditions.