Lateral vehicle control using gain scheduled H∞ controllers

Considers the synthesis and analysis of a robust controller for autonomous lateral control of a vehicle. The controller is designed using the LMI-based design approach of a gain scheduled H_∞ controller. System modeling for gain scheduling and controller synthesis steps are detailed. Numerical simulations which include actuator 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 good scheduling