A gain-scheduled robust controller for autonomous vehicles path tracking based on LPV system with MPC and H∞

• Main Authors: Tian, Ying, Yao, Qiangqiang, Hang, Peng, Wang, Shengyuan
• Other Authors: School of Mechanical and Aerospace Engineering
• Format: Article
• Language: English
• Published: 2022
• Subjects: Engineering::Mechanical engineering; Autonomous Vehicle; Gain-Scheduled
• Online Access: https://hdl.handle.net/10356/163809
• Institution: Nanyang Technological University

Due to the uncertainty of vehicle model parameters, modeling errors and external disturbances, the performance of path tracking control system is poor, especially under high velocity and large curvature extreme conditions. To address this issue, this paper presents a novel gain-scheduled robust cont...