Reduced order gain scheduled h-infinity control design for lateral driving assistance

This paper presents the design of two reduced order linear parameter-varying controllers with guaranteed Hscr
_infin
, performance for lateral driving assistance. The uncertainties considered consist in road adhesion, the mass of the vehicle and the driver dynamics. The lateral controller adds a steering torque to that of the driver in order to improve lane keeping and yaw dynamic under external disturbances (such as lateral wind) for a varying longitudinal velocity v. The reduced order controllers are thus scheduled by the operating parameter v