Discrete Constrained Switched Robust Control for Path Following of Autonomous Ground Vehicles With Interval Uncertainties

This paper proposes a discrete constrained switched robust control method for path following of the autonomous ground vehicle (AGV) via the active front-wheel steering (AFS). First, a predictive measurement correction strategy-based cubature Kalman filter is developed to observe the vehicle sideslip angle by dealing with the sudden change of the measurements. Second, a yaw stabilization strategy is presented to regulate the intervention frequency and strength of the AFS. Third, the interval uncertainties are modelled by using the interval matrix theory. The controllers are designed by solving a set of linear matrix inequalities offline, and a controller-switched mechanism is developed to online determine an appropriate controller for the AFS. According to the piecewise Lyapunov theory, the robust asymptotic stability for the path following of the AGV is proved in the presence of the input constraint. The effectiveness and practicability of the proposed method are verified via the software-inthe-loop and hardware-in-the-loop tests, respectively.