Path tracking controller design for intelligent vehicle in non-single straight road conditions

In this paper, the path tracking control problem for intelligent vehicle in non-single straight road conditions is researched. When the vehicle turns, we can regard it as the vehicle running through a portion of Arc-shaped sections. The centripetal force of the vehicle in cornering can be equivalent to the lateral constant interference, and the optimal output feedback H
∞
controller is designed to ensure the completion of tracking tasks. Finally, simulation results demonstrate the effectiveness of the designed controller.