Two-Degree-of-Freedom H8 Optimization and Scheduling for Robust Vehicle Lateral Control

In this paper, the problem of automatic vehicle steering is addressed using a two-degree-of-freedom loop shaping procedure. The controller is split into two parts. The closed loop part achieves the robust stability requirement while the prefilter part processes the reference signal and is designed to achieve model matching. The whole synthesis procedure is emphasized and the controller is tested in various situations with several system parameter variations. The observer structure of the controller is finally exploited in order to consider scheduling controllers according to vehicle speed variations. The advantages of the controller scheduling are outlined with some simulation results.