Research on the Anti-interference of Intelligent Vehicle Path Tracking on Variable Working Conditions Based on H∞ Control

摘要

Based on H∞ control theory, the path tracking control of intelligent vehicle is proposed in the paper. Considering the possible interference of various factors in the path tracking process, the controller is designed to make the whole system have good anti-interference ability and robustness. The control effect of intelligent vehicle at different speeds and under different road adhesion coefficients is presented. The results show that, under the disturbance of lateral wind and road changes, with different speeds and different road adhesion coefficients, the lateral displacement deviation decreases gradually and the final deviation converges to zero. The change of yaw angle and yaw velocity tends to be stable finally. This indicates that, under the action of the controller proposed, the intelligent vehicles can well resist external interference in the process of path tracking, on variable working conditions with different speeds and different road adhesion coefficients, and have good stability in the process of driving.