Fuzzy-Model-Based Robust Predictive Control for Path Tracking in Autonomous Driving

This paper investigates the problem of path tracking for autonomous vehicles with parameter uncertainties and constraints. The dynamical model for the autonomous driving system is presented using fuzzy modeling techniques. Through online calculation, the robust positively invariant (RPI) set is determined, then an robust fuzzy model predictive controller is obtained. The system performance of the controller is computed by solving a series of constraints in terms of linear matrix inequalities. Finally, Carsim/Matlab co-simulation platform demonstrates the performance of the mentioned methodology.