Robust predictive path-following control of autonomous ground vehicle with input delays

Abstract

ABSTRACT This paper introduces a path-following control method for autonomous ground vehicle with significant input delays. First, a vehicle path-following model including input delay is developed. Then, a robust predictive controller design is developed, in which a delay estimator as well as a state predictor is adopted so that control law design as well as controller gain calculation can be conducted without considering the input delay. Thus, the controller synthesis work can be greatly simplified. Finally, comparative co-simulation tests with Matlab/Simulink and Carsim are presented to verify the efficiency as well as the performance of the proposed path-following control approach.