Reliable adaptive H∞ path following control for autonomous ground vehicles in finite frequency domain

This paper studies the reliable H-infinity path following control problem for an autonomous ground vehicle (AGV) in spite of actuator faults and finite frequency disturbances, the efficiency coefficient of actuator is assumed to be an unknown positive scalar whose minimum possible value is also unknown. The nonlinear AGV system is modeled as a linear parameter varying (LPV) system, and an adaptive mechanism together with a finite frequency H-infinity control strategy is introduced to reject the effects of actuator faults and disturbances, respectively. Furthermore, the finite frequency performance is analysed using Lyapunov theory and Parseval's Theorem which is formulated as a set of linear matrix inequalities(LMIs). Finally, an example is presented to verify the approach proposed in this paper. (C) 2020 The Franklin Institute. Published by Elsevier Ltd. All rights reserved.