Controller Design for Path Following in Autonomous Vehicles with Ackerman Geometry using an LPV Approach

This paper presents the design of a convex controller for path following in autonomous vehicles with Ackerman geometry. First, the tracking error model is developed considering the lateral dynamics of the vehicle, using an LPV approach to obtain an exact convex representation. A Linear Quadratic Regulator (LQR) is used for the controller design. In addition, a second controller is considered to regulate the vehicle wheel’s speed, increasing the system’s performance. Finally, the developed algorithms are evaluated through simulations using data and parameters of the Rosmaster R2 mobile vehicle. The results demonstrate accurate trajectory tracking with small lateral and yaw errors, demonstrating the proposed approach’s effectiveness.