Intelligent Vehicle Trajectory Tracking Control Based on $H_{\infty}$ Proportional-differential Controller

In order to improve the trajectory tracking accuracy and stability of intelligent vehicles, this paper proposes a vehicle trajectory tracking control method based on $\boldsymbol{H_{\infty}}$ proportional-differential (PD) control. Taking the two-degree-of-freedom vehicle model considering lateral motion and yaw motion as the research object, we establish the state space model based on tracking error. Then, the PD control problem of the model is transformed into a static output feedback (SOF) control problem, and the coordinate transformation matrix (CTM) method is used to solve the problem by multiple iterative optimizations. Finally, the $\boldsymbol{H_{\infty}}$ PD controller satisfying pole configuration constraints and $\boldsymbol{H_{\infty}}$ performance constraints is obtained. The co-simulation of MATLAB/Simulink and Carsim shows that the controller has high tracking accuracy based on ensuring vehicle stability in both the double lane-change condition and the serpentine condition.