Design Of Observer-Based Path Following Controllers For Autonomous Vehicles

This paper studies the path following control problem of a car -like autonomous vehicle. The vehicle kinematical model is transferred to a chain form, and the measurement of vehicle poses is assumed to be affected by Wises. An observer is designed to estimate the states, and the estimated states are used as the input to the controller. To design the observer and controller simultaneously, an 11,,, performance index is adopted such that measurement noises are attenuated. Finally, the design problem is converted into a set of Linear Matrix Inequalities (LMIs), and a numerical example is provided to verify the effectiveness of the method proposed in this paper.