Rendering bounded error in adaptive robust path tracking control for autonomous vehicles

For the sake of safety, vehicle path tracking control should not only ensure stability error containing lateral offset and orientation but also guarantee that both transient steady states are within a specified safe boundary. However, time-varying uncertainties system make design tough task. This paper develops an adaptive robust (ARC) which guarantees bounded property for autonomous vehicles. First, to handle requirement, barrier function based state transformation converts constrained into unconstrained is proposed. Then, task cast equality constraint state. On this basis, novel constraint-following controller developed transformed follow proposed constraint. Through Lyapunov minimax analysis, it proved resulting approximate performance despite presence uncertainties. Finally, main theoretical results verified through CarSim-Simulink co-simulation results.