| Abstract: | To ensure path tracking control precision in self-driving vehicles with uncertain parameters, the paper proposes an output-feedback control method with the prescribed control performance criteria. Firstly,by constructing the lateral offset error at the driver''s preview point, a second-order error integration system is established. Considering the unknown lateral velocity and perturbation in the tire cornering stiffness, a control model containing lumped unknown states is established by using the extended state method. The unknown states of the system are obtained by designing a linear extended state observer and the uniformly bounded convergence of the observation error is further proved. Then, to address the issue that the transient and steady-state performance of vehicles cannot meet the predefined accuracies, an output feedback path following controller with prescribed performance is proposed, incorporating observer estimations. The stability of the closed-loop system is rigorously proved based on the Lyapunov theory. Finally, Matlab/Simulink simulation results show that the designed control strategy effectively tracks the reference path with the desired accuracy. Moreover, the proposed control method is further verified via the hardware-in-the-loop experiment and the results show that the lateral tracking errors are consistently maintained within the predefined safety range with strong robustness. |
