A Robust Combinatorial Path Tracking Controller of Automated Vehicle Considering Parametric Uncertainties and Perturbation Caused by Curvature

Path tracking control is one of the key technologies for automated vehicles. The perturbation caused by curvature and the parametric uncertainties of the system model has a deep impact on the effectiveness of the path tracking controller. In this paper, a robust combinatorial path tracking controller is proposed to solve this problem, which consists of two parts: 1) a state feedback model predictive controller, which regards the problem as an optimization problem in the infinite horizon, can deal with the parametric uncertainties and reduce the tracking error with strong robustness; 2) a feedforward controller, which adds extra steering angle to compensate for perturbation caused by curvature. The simulation results demonstrate that the proposed combinatorial controller can significantly combat the impact of the parametric uncertainties and perturbation caused by curvature, and improve the path tracking accuracy of automated vehicles with strong robustness.