This paper investigates the robust H∞ path-tracking control problem of network-based autonomous vehicles (AVs) with delay and packet dropout. Generally, both network-induced delay and packet dropout bring negative effects on the system stability and performance. A robust H∞ control scheme is proposed to realize the desired path tracking and lateral stability. The closed-loop system is asymptotically stable with the prescribed H∞ disturbance attention level if there exist some matrices satisfying certain linear matrix inequality (LMI) conditions. Furthermore, the proposed controller is robust to the parameter uncertainties and external disturbances. Simulation results are presented to verify the effectiveness of the proposed control scheme.
Review and performance evaluation of path tracking controllers of autonomous vehicles
