Robust $H_{\infty}$ Path Following Control for Autonomous Ground Vehicles With Delay and Data Dropout

This paper presents a robust $H_{\infty}$ path following control strategy for autonomous ground vehicles with delays and data dropouts. The state measurements and signal transmissions usually suffer from inevitable delays and data packet dropouts, which may degrade the control performance or even deteriorate the system stability. A robust $H_{\infty}$ state-feedback controller is proposed to achieve the path following and vehicle lateral …