Robust recursive lateral control for autonomous vehicles subject to parametric uncertainties

This paper presents an approach to trajectory tracking control for autonomous vehicles subject to parametric uncertainties. Such uncertainties may have the potential to significantly decrease the performance of the system, even to the point of destabilizing it. Therefore, these parametric variations must be taken into account during the design of the controller. To solve the trajectory tracking problem for autonomous vehicles subject to parametric uncertainties, the Robust Recursive Regulator was used and compared to a PI controller. Uncertainties were assumed to be based on velocity profile. Simulation results showed that the Robust Recursive Regulator presented smaller tracking errors and smoother driving, which demonstrates that it is a very promising control system for practical applications.