Path-tracking of nonlinear dynamics and input–output delays for vehicle error system via compound H∞ TS-feedforward controller

This article proposes a composite $H_{\infty }$ Takagi–Sugeno (TS) feedforward controller integrated with fuzzy nonlinearity to address the path-following control problem of autonomous vehicles subject to input–output delays. First, a vehicle–road system is formulated using the norm-bound method to rigorously characterize parameter uncertainties and geometric dynamic properties. Second, the TS fuzzy modeling framework is adopted to approximate the vehicle’s inherent nonlinear dynamics while preserving accuracy. A Lyapunov–Krasovskii functional with free-weighting matrices is then applied to mitigate combined input–output delays, enabling the design of a low-conservatism TS $H_{\infty }$ feedback controller. To counteract non-convergence arising from physical constraints in the expectation model, an adaptive TS compensation feedforward controller is introduced, enhancing system convergence. Furthermore, the proposed composite $H_{\infty }$ TS controller reduces the number of system rules, thereby lowering computational complexity. Finally, Carsim-Simulink co-simulation validates the controller’s effectiveness in diverse road scenarios under delayed conditions, demonstrating superior performance compared to existing methods.