Gain-Scheduled ${lpv/h_{\infty }}$ Strategy for Steering and Braking Coordination of Intelligent Commercial Vehicle Lateral Automation

This paper studies the steering and braking coordination control in path tracking problems of intelligent commercial vehicles (ICVs). A gain-scheduled LPV/ $H_{\infty }$ strategy for ICVs is proposed to improve tracking performance, driving stability and robustness of controller. While establishing lateral-yaw-roll dynamics, a steering and braking coordination control strategy based on scheduling parameters is designed to enhance tracking accuracy and yaw-roll stability under different driving conditions. The robust performance has been guaranteed in the $H_{\infty }$ robust controller by considering the parameter uncertainties in lateral-yaw-roll dynamic model, unmodeled subsystem as well as ground mechanics and aerodynamics disturbance comprehensively. Also, the dynamic characteristics of time-varying parameters and determination of robust boundary is addressed through a LPV polyhedral structure and a novel Gaussian Process Regression (GPR) model respectively, which reduces the conservativeness of $H_{\infty }$ robust controller. Sufficient conditions for closed-loop stability under the diverse disturbances are provided by the Lyapunov method analytically, which ensures the feasibility of system. The results of simulations on MATLAB-Trucksim platform demonstrate that the proposed controller can significantly enhance tracking accuracy, driving stability, and robustness, which guarantees the feasibility and capability of driving in diverse scenarios.