Robust learning‐based lateral tracking control for autonomous driving with input constraints

• Published in: International journal of robust and nonlinear control Vol. 33; no. 7; pp. 4228 - 4244
• Main Authors: Li, Xuefang, Li, Hongbo, Meng, Deyuan, Feng, Guodong
• Format: Journal Article
• Language: English
• Published: Bognor Regis Wiley Subscription Services, Inc 10.05.2023
• Subjects: Adaptive control; Adaptive learning; adaptive learning control; autonomous vehicles; Constraints; Control systems design; Controllers; convergence analysis; input constraints; Learning; Path tracking; Robust control; Tracking control; Tracking errors; uncertainties

This work investigates the robust lateral tracking control problem of autonomous vehicles subject to unmodeled system uncertainties, external disturbances as well as input constraints that commonly exist in the vehicle dynamics. The tracking controller design under such uncertain environments is cha...