Path-Following Control of a Vehicle by Adaptive Output Feedbak Control based on ASPR

In recent years, the development of automated driving technology has been actively pursued in line with changes in the automotive industry. In the real-world environment where automated driving is performed, there are many uncertainties such as changes in road surface conditions due to weather and terrain, changes in vehicle weight due to the number of passengers and luggage, and changes in vehicle speed. These uncertainties deteriorate the performance of the control system and significantly affect the driver's comfort and safety. In this paper, we propose an adaptive output feedback control based on almost strictly positive real (ASPR) for a path-following control system for four-wheeled vehicles that can cope with uncertainty in vehicle characteristics. In order to maintain robustness against system uncertainty, a parallel feedforward compensator (PFC) will be introduced into the control system to keep the augmented system ASPR when the vehicle's ASPR performance cannot be guaranteed due to changes in parameters such as speed. The effectiveness of the proposed method is confirmed through numerical simulations.