Robust path following control for autonomous vehicle considering actuator fault

The development of drive-by-wire chassis technology increases the flexibility vehicle dynamic control. However, more actuators have higher potential failure risk and lead model mismatch, which brings a severe challenge for control precision system robustness. Regarding to steering actuator, this research presents feedback gain scheduling H ∞ controller autonomous path tracking. Firstly, linear parameter-varying (LPV) is established considering speed variation actuator fault. Then state algorithm proposed maintain tracking performance matrix optimized via inequation (LMI). Finally, closed loop proved be asymptotic stable by Lyapunov function simulation results demonstrate that has satisfactory under unpredictable fault degree, provides good robustness better reliability in complex conditions.