An LPV Approach to Autonomous Vehicle Path Tracking in the Presence of Steering Actuation Nonlinearities
Matteo Corno, Giulio Panzani, Federico Roselli, Michele Giorelli, Davide Azzolini, Sergio M. Savaresi
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.
Topics & Concepts
Control theory (sociology)ActuatorWeightingTrajectoryControl engineeringEngineeringTracking errorController (irrigation)Torque steeringVehicle dynamicsComputer scienceControl (management)Steering wheelAutomotive engineeringArtificial intelligencePhysicsRadiologyBiologyElectrical engineeringAstronomyAgronomyMedicineVehicle Dynamics and Control SystemsRobotic Path Planning AlgorithmsAutonomous Vehicle Technology and Safety