Modified Output Feedback Controller Design Method for Autonomous Vehicle Path Tracking

This paper focuses on the path tracking control of autonomous vehicles. Firstly, an improved algorithm for the linear parameter-varying path tracking system is proposed. Constructed on a three-dimensional polytope framework, it aims to reduce overbounding by tightening the volume of the polytope. Then, an iterative algorithm using linear matrix inequalities is modified to design a static output feedback controller for path tracking. Additionally, an online implementation scheme for gain scheduling, based on volume coordinates, is presented to significantly reduce the online computational load. Finally, the enhancement in reducing overbounding performance is quantitatively evaluated using polytope volume metrics, and the effectiveness of the controller is validated through high-fidelity simulations.