Comparative Study of Trajectory Tracking Control for Automated Vehicles via Model Predictive Control and Robust H-infinity State Feedback Control

Abstract A comparative study of model predictive control (MPC) schemes and robust $$H_{\infty }$$ H? state feedback (RSC) method for trajectory tracking is proposed in this paper. The main objective paper to compare MPC RSC controllers’ performance predefined under different scenarios. controller designed based on the simple longitudinal-yaw-lateral motions a single-track vehicle with linear tire, which an approximation more realistic double-track motion non-linear tire mode. basis same as adopted achieve fair comparison. Then, three test cases are built CarSim-Simulink joint platform. Specifically, verification used accuracy well road conditions. Besides, double lane change low adhesion find maximum velocity that both controllers can carry out while guaranteeing stability. Furthermore, extreme curve where changes suddenly, order Finally, advantages disadvantages scenarios also discussed.