UGV Robust Path Following Control under Double Loop Structure with μ Synthesis

For the problem that the path following performance is degraded due to model uncertainty of the unmanned ground vehicle (UGV) during lateral maneuvering, a double loop control structure is designed, in which the path following control is the external loop and the yaw stability control is the inner loop respectively. A robust yaw stability control based on μ synthesis is proposed. Simulation results show that the UGV based on this method has better performance than PID (proportional-integral-derivative) and H_∞ controller when model parameters are changed. In comparison experiments, the root mean square error of this method is 1/3 less than PID. The result shows that this method also has robust stability and robust performance with respect to uncertain vehicle parameters.