This paper studies the reliable H_∞ path following control problem for an autonomous ground vehicle (AGV) in spite of actuator faults and finite frequency disturbances, the efficiency coefficient of actuator is assumed to be an unknown positive scalar whose minimum possible value is also unknown. The nonlinear AGV system is modeled as a linear parameter varying (LPV) system, and an adaptive mechanism together with a finite frequency H_∞ control strategy is introduced to reject the effects of actuator faults and disturbances, respectively. Furthermore, the finite frequency performance is analysed using Lyapunov theory and Parseval’s Theorem which is formulated as a set of linear matrix inequalities(LMIs). Finally, an example is presented to verify the approach proposed in this paper.

本文研究了可靠ħ _∞以下为尽管致动器的故障和有限频率干扰的自主地面车辆（AGV）控制问题的路径，假定致动器的效率系数是未知的正标量，其最小可能值也是未知的。非线性AGV系统建模为线性时变参数（LPV）系统，以及具有有限频率自适应机制一起ħ _∞引入了控制策略以分别拒绝执行器故障和干扰的影响。此外，利用Lyapunov理论和Parseval定理分析了有限频率性能，该定理被公式化为一组线性矩阵不等式（LMI）。最后，给出一个例子来验证本文提出的方法。