Fuzzy-model-based H∞ dynamic output feedback control with feedforward for autonomous vehicle path tracking

Abstract

In this paper, the problem of H∞ dynamic output feedback control with feedforward is presented for path tracking in autonomous vehicle. To achieve the desired performance during high-speed driving, both the kinematic and dynamic models of the vehicle are considered. Within the fuzzy-model-based framework, an approach to the fuzzy dynamic output feedback controller design is proposed. The desired yaw rate of the vehicle is regarded as the external disturbance of the vehicle lateral dynamics, which are norm-bounded uncertainties and can be approximated by the curvature of the reference path. By adopting the dynamic model in terms of error with respect to centerline of the reference road and Lyapunov stability theory, a sufficient condition to derive the fuzzy H∞ dynamic output feedback controller is developed. Moreover, to further improve the performance of the overall closed-loop system, the feedforward loop is introduced by estimating the desired steering angle under certain vehicle velocity. The effectiveness of the proposed approach is demonstrated by the co-simulation between Matlab/Simulink and Carsim.