Robust H_∞ Control for Autonomous Scooters

摘要

This paper studies the trajectory tracking problem for the nonlinear model of a scooter and presents a robust H_∞ controller based on measurements of the tracking errors, the roll angle, the yaw angle and the steering angle. The study first introduces the full nonlinear model developed in Autosim which has 12 degrees of freedom. This is far more complex than a simple bicycle model and provides a good description of the scooter. Then a robust H_∞ controller based on the linearization of the nonlinear model is designed. Finally, the effectiveness of the controller is verified by means of two case studies.