H∞ Control of Autonomous Electric Vehicles

K. Moriwaki (Japan)


Autonomous vehicles, navigation, and nonlinear À½ control


The problem of navigation and control for autonomous vehicles is considered. Mutual interactions among vehicle motion dynamics are evaluated. It is proposed the mathematical model suitable for describing and simulating the whole motion of autonomous passenger vehicles. The problem of automatic reference path tracking with stabilizing suspension system is considered as an À½ optimal control problem. A feasible suboptimal solution is evaluated in numerical simulations.

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