Robust H? fuzzy path-tracking of autonomous vehicles under actuator saturation

This paper presents a robust nonlinear state Feedback control design for steering control autonomous vehicle with input constraint and external disturbance. Firstly, in order to consider the actuator saturation, the dead zone non linearity is used. Then, a non-quadratic fuzzy Lyapunov function is investigated to drive a new H? stabilization conditions in terms of Linear Matrix Inequalities (LMIs). Finally, the robustness and the advantages of the proposed approaches are demonstrated through different tests.