A robust H observer-based static state-feedback controller is designed for the path following of autonomous ground vehicles in this paper. Considering the lateral velocity of vehicle is usually difficult to measure, an observer is designed to estimate the value of lateral velocity first. Then, a robust controller is proposed to cope with the modeling uncertainty and disturbance, such as the variation of road coefficient and lateral disturbance. Numerical simulations using a high-fidelity and full-vehicle model based on a CarSim–Simulink joint platform have verified the effectiveness of the proposed approach.


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    Title :

    Robust H state-feedback control for path following of autonomous ground vehicle based on lateral velocity estimation


    Contributors:


    Publication date :

    2019-08-01


    Size :

    9 pages




    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English





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