Design of Robust Tracking and Disturbance Attenuation Control for Vehicle Lateral Systems: A Modified Equivalent Input Disturbance Approach

Abstract

In this article, a unified input delay and disturbance compensation issue has been addressed for vehicle lateral systems. Specifically, by compensating for the input delay and disturbances in the addressed system, the intended tracking performance is achieved. Moreover, a modified higher-order equivalent-input-disturbance approach is developed in light of the Majhi-Atherton modified Smith predictor technique, which aids in estimating the disturbances in the system model. In particular, the developed technique integrates the transfer function into the conventional Smith predictor block, so accurate disturbance estimation with the desired input delay compensation is guaranteed. Subsequently, sufficient criteria are formulated in the frame of linear matrix inequalities to affirm the desired tracking performance. Further, the generated linear matrix inequalities are solved to obtain the required gain matrices. In the end, the efficacy and superiority of the suggested control approach are ultimately verified through the simulation analysis for the considered numerical example.