Output Feedback Nonlinear Adaptive Steering Control of Driving Robot Vehicle with Model Uncertainty

In order to realize the precise and stable steering control of the vehicle manipulated by the driving robot (DRV), an output feedback nonlinear adaptive steering control method for the DRV is proposed. Firstly, by analyzing the structure of the driving robot, a nonlinear dynamics model of the DRV with uncertain parameters is established. Then, a steering control method including a control feasible region and an adaptive robust model predictive controller is proposed. The control feasible region is designed according to the constraints of path curvature and sideslip constraint. The novel robust model predictive controller is designed, and its weight matrix is adaptively updated with the speed of the DRV. Experiments and simulations show that the proposed method achieves precision steering control for the DRV.