Observer-based finite frequency H∞ state-feedback control for autonomous ground vehicles

This paper studies the problem of path tracking of Autonomous Ground Vehicles (AGVs) in the presence of sideslip angles. An observer is designed to estimate both the sideslip angle and the vehicle yaw rate, based on which an observer-based controller is established such that the closed-loop system is stable and the vehicle follows a desired path accurately. In particular, the nonlinear vehicle dynamics model is reformulated as a Linear Parameter Varying (LPV) system, and a finite frequency H_∞ criteria is satisfied such that the disturbances are attenuated effectively, the parameter-dependent gain matrices are calculated simultaneously by solving a convex optimization problem. Simulation results show the effectiveness of the method proposed.