Abstract：The uncertainties of external disturbances and the nonlinearity of system states usually reduce path tracking accuracy for automatic path tracking of heavy commercial vehicles which then complicates the controller design. This paper presents a robust LPV (linear parameter varying)/H∞ lateral motion controller which provides good path tracking accuracy regardless of uncertainties in the road curvature and variations of the longitudinal speed. A weighted performance index and the robust H∞ controller were designed for heavy commercial vehicles using a generalized 4-DOF dynamic model and an automatic path tracking model. An improved trapezoidal polytope LPV controller was designed to account for the vehicle speed variations. Simulations and a hardware-in-loop (HIL) implementation show the effectiveness and real-time response of the control algorithm. The results show that this LPV/H∞ control algorithm improves the conservativeness of the original control algorithm and significantly improves the trajectory tracking accuracy while ensuring automatic tracking stability of heavy commercial vehicles.
董晴, 季学武, 刘玉龙, 陶书鑫, 刘亚辉. 基于LPV/H∞鲁棒控制的重型商用车自动循迹[J]. 清华大学学报（自然科学版）, 2022, 62(3): 438-446.
DONG Qing, JI Xuewu, LIU Yulong, TAO Shuxin, LIU Yahui. Robust LPV/H∞ control for automatic path tracking of heavy commercial vehicles. Journal of Tsinghua University(Science and Technology), 2022, 62(3): 438-446.
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