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Optimal H_∞ Control for Lateral Dynamics of Autonomous Vehicles.

Gianfranco Gagliardi¹, Marco Lupia¹, Gianni Cario¹

¹Dipartimento di Ingegneria Elettronica, Informatica e Sistemistica (DIMES), Universitá della Calabria, 87036 Rende, CS, Italy.

Sensors (Basel, Switzerland)

|July 2, 2021

Summary

This study introduces a robust H∞ lateral controller for autonomous vehicles, enhancing trajectory tracking and minimizing errors. The model-based approach ensures stability despite speed variations, validated through co-simulation.

Keywords:

H∞ control automotive control autonomous vehicles lateral control linear matrix inequalities path tracking steering angle control

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Area of Science:

Robotics and Control Systems
Autonomous Vehicle Navigation
Computer Vision

Background:

Autonomous vehicles require precise lateral control for safe navigation.
Real-time trajectory following necessitates robust control strategies.
Variations in vehicle speed can challenge lateral stability and tracking accuracy.

Purpose of the Study:

To design and validate a model-based H∞ vehicle lateral controller.
To minimize position and orientation tracking errors for autonomous vehicles.
To ensure robust performance against longitudinal speed variations.

Main Methods:

Development of a model-based H∞ lateral controller.
Integration of video-processing and lane-detection algorithms for real-time trajectory computation.
Utilizing Linear Matrix Inequality (LMI) optimization for controller design.
Co-simulation in Matlab/Simulink and Carsim for validation.

Main Results:

The controller effectively minimizes position and orientation tracking errors.
Achieved robust closed-loop system performance despite longitudinal speed changes.
Demonstrated good control performance in a simulated environment.

Conclusions:

The proposed H∞ lateral controller is effective for autonomous vehicle trajectory following.
The model-based approach provides robustness against speed variations.
Co-simulation validates the practical applicability of the control strategy.