Parameter Varying Approach For A Combined (Kinematic + Dynamic) Model Of Autonomous Vehicles

This paper proposes a solution for the integrated longitudinal and lateral control problem of autonomous vehicles. A mixed model including kinematic and dynamic behaviour of the vehicle is used to design a single controller to achieve stability and tracking performances. The proposed solution is based on the Linear Parameter Varying (LPV) control approach, where an output-feedback dynamical controller is designed based on Linear Matrix Inequalities (LMIs). The control synthesis is carried on using the gridded-based approach to reduce the conservatism. Simulation results show the stabilization of the vehicle with robustness in tracking performances, in the presence of the road friction coefficient disturbances.

21st IFAC World Congress