Robust $H_{\infty}$ Trajectory Following of Autonomous Vehicles with Delay and Packet Dropout

Abstract

This paper proposes a robust $H_{\infty}$ trajectory following controller for autonomous vehicles with delays and packet dropout. The network-induced delay and dropout will degrade the control effect and system performance. A robust $H_{\infty}$ controller is presented to achieve the desired trajectory following and lateral control. The closed-loop $H_{\infty}$ performance can be guaranteed if certain linear matrix inequality (LMI) conditions are satisfied, under which the closed-loop system is asymptotically stable with an $H_{\infty}$ disturbance attention level. The uncertainty effects of the tire cornering stiffness and external disturbances are considered in the control design. Simulations are carried out to verify the effectiveness of the proposed control approach.