Robust Preview Path Tracking Control of Autonomous Vehicles Under Time-Varying System Delays and Saturation

Abstract

Realistic uncertainties and disturbances cannot be ignored when striving towards high-performance autonomous driving. Meanwhile, advanced vehicular sensing technology enables more and more self-driving techniques to come out. Against this backdrop, this paper aims to holistically address the system uncertainties and disturbances in the path tracking control of autonomous vehicles (AVs) by the preview control theory to achieve superior control performance. First, unmeasureable multi-uncertainties and the external disturbance are considered simultaneously into the robust gain-scheduling framework with variable longitudinal velocity. Then, by the equivalent delay approach, ineluctable time-varying system delays are effectively handled. Next, the physical constraints of the steering system and direct yaw moment control (DYC) system are considered for practical implementation through robust set invariance theory. The parallel distributed compensation (PDC) technique and auxiliary feedback matrices approach are introduced for reducing design conservatism. After that, by incorporating the road curvature into the augmented system state, the path tracking preview control problem can be solved without online optimization. Thereafter, the closed-loop system stability and guaranteed performance have been proved through the Lyapunov- Krasovski approach. The proposed controller design is finally reformulated as the optimization problem based on linear matrix inequalities (LMIs) via specific convexification techniques. Finally, to verify the validity of the proposed controller, Software in Loop (SIL) tests with Carsim full-vehicle model under different dynamic conditions have been implemented.