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A robust yaw moment controller design for autonomous ground vehicle aiming to changing directions with high mobility

A four wheel independently actuated (FWIA) autonomous vehicle is a highly over-actuated system whose four-wheel torques and steering angles can be controlled independently. In this paper, a new robust H∞ control scheme in the process of changing driving direction for a FWIA autonomous ground vehicle (AGV) is proposed. The vehicle lateral dynamics is modeled firstly. The robust H∞ yaw moment controller is designed for keeping the vehicle sideslip angle tracking the wheels steering angles, at the same time, keeping the yaw rate to be minimized to zero, regardless of the disturbance and parameter uncertainties. The controller designing process utilizes an energy-to-peak criterion and linear matrix inequality (LMI) tools. At last, an all-wheel steering autonomous vehicle model validates the efficiency of the proposed controller. The controller also can be capable to changes direction rapidly without a significant loss of vehicle speed.