Linear Parameter Varying Path Tracking Control for Over-Actuated Electric Vehicles

This paper discusses a multi-layer linear parameter varying path tracking controller for autonomous full electric vehicles with 4 wheel drive. Many approaches are present in the literature, but majority of them utilize only steering wheel. Nowadays, massive introduction opens new opportunities vehicle dynamics control; multiple motors, via differential torque, offer an alternative way to influence motion. The structure, managing separately and permits exploitation pre-existing control systems maintains straightforward tuning process. Furthermore, robustness is enhanced by introducing tire nonlinearities. Linear models direct incorporate characteristics design Exploiting H∞ technique scheduled can be seamlessly synthezised. proposed strategy has been compared simulation benchmark integrated, i.e., unique that manages all actuators, approach. During double lane changes beyond limits, guarantees stability excellent average error 12 24 cm on high low grip respectively.