static state feedback
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2021 ◽  
pp. 306-314
Author(s):  
Sifeddine Benahmed ◽  
Pierre Riedinger ◽  
Serge Pierfederici

Author(s):  
Pengpeng Feng ◽  
Jianwu Zhang ◽  
Weimiao Yang

A robust [Formula: see text] observer-based static state-feedback controller is designed for the path following of autonomous ground vehicles in this paper. Considering the lateral velocity of vehicle is usually difficult to measure, an observer is designed to estimate the value of lateral velocity first. Then, a robust controller is proposed to cope with the modeling uncertainty and disturbance, such as the variation of road coefficient and lateral disturbance. Numerical simulations using a high-fidelity and full-vehicle model based on a CarSim–Simulink joint platform have verified the effectiveness of the proposed approach.


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