Lateral vehicle control using gain scheduled H∞ controllers

This paper considers the synthesis and analysis of robust controller for autonomous lateral control of a vehicle. The controller is designed using the LMI-based design approach of gain scheduled IIinfinity controller. System modeling for gain scheduling and controller synthesis steps are detailed. Numerical simulations which include attuator constraints are conducted on a heavy car model. Results are given for various operating conditions and maneuvers. they show that the controller interpolation between the vertex controllers allows a good scheduling.