An LPV Approach to Autonomous Vehicle Path Tracking in the Presence of Steering Actuation Nonlinearities

Abstract

This article deals with trajectory tracking for autonomous cars during evasive maneuvers and in the presence of steering actuator nonlinearities. This article develops an LPV MISO H-infinity controller based on the feedback of the lateral error at the center of gravity and the look-ahead distance. The controller architecture offers a way to cope with the effect of the steering nonlinearities, by scheduling one of the control weighting functions. A detailed experimental validation on three different maneuvers (straight driving, wide bend, and a double-lane change) shows the effectiveness of the proposed LPV solution.