Lateral Control of Autonomous Ground Vehicles via a New Homogeneous Polynomial Parameter Dependent-Type Fuzzy Controller

This article addresses the lateral control problem of nonlinear autonomous ground vehicles (AGVs) with time-varying velocities. A novel solution is provided for making nonlinear AGVs drive smoothly along a predetermined path in the presence of external disturbances. First, a new controller based on the homogeneous polynomial technique is designed to improve the control flexibility so as to enhance the control effect of the vehicle facing the change in road curvature. Second, a more relaxed stability criterion is derived by using convex optimization techniques and relaxation techniques to ensure the exponential stability of the closed-loop vehicle system. Finally, the MATLAB/Simulink-CarSim co-simulation platform is used to verify the proposed control strategy's effectiveness.