Robust Path Following Control for Vehicles with Uncertain Steering Resistance Using Model Error Compensation

TL;DR

This paper introduces a robust vehicle path following control method that explicitly models steering resistance and uses a Model Error Compensator to handle uncertainties, improving tracking accuracy under varying road conditions.

Contribution

It proposes a novel control approach that explicitly incorporates steering resistance dynamics and compensates for model errors, enhancing robustness in uncertain environments.

Findings

The method reduces maximum tracking error in simulations with parameter mismatch.

Explicit modeling of steering resistance improves path following accuracy.

Model Error Compensation enhances adaptability to different road conditions.

Abstract

This paper presents a robust path following control method for vehicles that explicitly considers steering resistance dynamics to improve tracking accuracy. Conventional methods typically treat the steering angle as a direct control input; however, this approach introduces the steering angle as a state variable and incorporates the steering resistance effect into the control model. The steering resistance is modeled as a function of vehicle speed and steering angle, whereas in practice it varies depending on road conditions. To address the resulting model inaccuracies, a Model Error Compensator (MEC) is introduced, mitigating the effects of variations in steering resistance and enhancing the adaptability of the system to different environments. Since the steering resistance coefficient depends on road surface properties and is difficult to determine precisely, the proposed method treats it as an uncertain parameter and compensates for the resulting model error via MEC. Numerical simulations are conducted to evaluate the performance of the proposed method under varying degrees of parameter mismatch, demonstrating that the proposed method substantially reduces the maximum tracking error in representative mismatched cases compared to the conventional method. The results indicate that explicitly modeling steering resistance dynamics and compensating for model errors improve path following performance in numerical simulations compared to conventional approaches.