| LPV/H∞ CONTROLLER DESIGN FOR PATH TRACKING OF AUTONOMOUS GROUND VEHICLES THROUGH FOUR-WHEEL STEERING AND DIRECT YAW-MOMENT CONTROL |
| Peng Hang, Xinbo Chen, Fengmei Luo |
| Tongji University |
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| ABSTRACT |
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This paper focuses on the path-tracking controller design for autonomous ground vehicles (AGVs) using fourwheel
steering (4WS) and direct yaw-moment control (DYC) systems. In order to deal with the parametric uncertainties, a
linear parameter-varying (LPV) H∞ controller is designed as the high-level controller to generate the front and rear wheel
steering angles and external yaw moment based on linear matrix inequality (LMI) approach. The lower-level controller is
designed for torque allocation between the left and right side wheels to yield the desired total longitudinal force and external
yaw moment utilizing weighted least square (WLS) allocation algorithm. To test the performance of the proposed pathtracking
controller, numerical simulations are carried out based on a high-fidelity and full-vehicle model constructed in
CarSim. Simulation results show that the LPV/H∞ controller has better path-tracking performance than the fixed gain H∞
controller. To show the superiority of 4WS+DYC control system, the contrast simulation is performed based on LPV/H∞
controller. Simulation results indicate that 4WS+DYC control system has better path-tracking performance and handling
stability than active front steering (AFS), AFS+DYC and 4WS control systems. |
| Key Words:
Path tracking, Linear parameter-varying, Robust control, Four-wheel steering, Direct yaw-moment control |
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Corresponding Author.
Xinbo Chen , Email. 
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