This paper studies the problem of path tracking of Autonomous Ground Vehicles (AGVs) in the presence of sideslip angles. An observer is designed to estimate both the sideslip angle and the vehicle yaw rate, based on which an observer-based controller is established such that the closed-loop system is stable and the vehicle follows a desired path accurately. In particular, the nonlinear vehicle dynamics model is reformulated as a Linear Parameter Varying (LPV) system, and a finite frequency $H_{\infty }$ criteria is satisfied such that the disturbances are attenuated effectively, the parameter-dependent gain matrices are calculated simultaneously by solving a convex optimization problem. Simulation results show the effectiveness of the method proposed.

本文研究了存在侧滑角的自主地面车辆（AGV）的路径跟踪问题。设计了一个观察器来估计侧滑角和车辆偏航率，在此基础上建立一个基于观察器的控制器，使闭环系统稳定，车辆准确地遵循期望的路径。特别是，非线性车辆动力学模型被重新表述为线性参数变化 (LPV) 系统，以及有限频率$H_{\infty }$满足标准使得干扰得到有效衰减，通过求解凸优化问题同时计算与参数相关的增益矩阵。仿真结果表明了所提方法的有效性。