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.