Self-scheduling robust preview controllers for path tracking and autonomous vehicles

In this study, we detail the procedures for designing preview gain scheduling controllers by Linear Quadratic H_∞ robust optimization methods in Linear Matrix Inequalities (LMI) framework. The controllers are aimed for steering control of autonomous vehicle. We first construct the Linear Parameter Varying (LPV) vehicle models and synthesize the robust controllers with uncertainty and nominal plants. We choose static output and state feedback controller structure to avoid higher order controllers considering implementation issues. The robust control problems are solved by using different LMI formulations and optimization weights with and without eigenvalue location constraints. The results are compared.