Automated Ground Vehicle Path-Following: A Robust Energy-to-Peak Control Approach

Abstract

Due to the simultaneous existence of model uncertainties and external disturbances, designing automated ground vehicle path-following controllers is recognized as a challenging task. The <inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"> <tex-math notation="LaTeX">$H_{\infty }$ </tex-math></inline-formula> robust control methodology, as one of the accomplished strategies for controller robustification, has been commonly adopted by researchers to address the vehicle path-tracking problems. Nevertheless, despite its advantages, the <inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"> <tex-math notation="LaTeX">$H_{\infty }$ </tex-math></inline-formula> controller is only capable of limiting the total “energy” of the tracking errors. On the other hand, from a safety standpoint, constraining the “peak” of the tracking errors may carry an equal or more importance. To establish a guaranteed upper bound on the path-tracking errors, this paper proposes a novel methodology to synthesis the ground vehicle path-following controller in light of the energy-to-peak robust control theory. Additionally, to address the time-varying uncertainties presented in the tire dynamics, robust stabilization constraints based upon the small-gain theorem are also formulated into the overall controller design problem. Comparative study regarding the disturbance rejection performance between the proposed controller and the conventional <inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"> <tex-math notation="LaTeX">$H_{\infty }$ </tex-math></inline-formula> approach is conducted via CarSim-Simulink joint simulations. Furthermore, the robustness and disturbance attenuation ability of the energy-to-peak path-tracking controller is experimentally verified on a scaled car.

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