Enhanced H∞ Tracking Control of Autonomous Ground Vehicles via a Novel Fuzzy Switching Controller

This paper presents a new path tracking control method for autonomous ground vehicles (AGVs). In particular, a novel fuzzy switching controller is designed, which can realize cooperative control of multiple fuzzy controllers according to specific switching rules by reading the change of vehicle speed. More importantly, using this controller can effectively reduce the conservatism of the method. Furthermore, the
$\mathcal {D}$
-stability is introduced to optimize the transient performance of the vehicle system. The effective combination of fuzzy switching controller and
$\mathcal {D}$
-stability further enhances the tracking performance of the control method, especially the tracking effect of the vehicle on the curved road. Finally, the effectiveness of the proposed control method is demonstrated by the Carsim and MATLAB/Simulink co-simulations.