Design of passivity-based controllers for lateral dynamics of intelligent vehicles

This paper deals with the lateral control of intelligent vehicles. It is based on the passivity results presented recently in [1]. It shows how the intrinsic properties of the lateral dynamics can be used to design robust controllers for tracking of a reference trajectory. The additional passivity properties proved in this paper allow to theoretically explain some previous results in the literature. Then a PI controller based on the state feedback of passive outputs is proposed. Simulation validation was performed using real data representing common driving situations. Data acquisition has been made using the vehicle DYNA of Heudiasyc laboratory. This validation serves to highlight the improvement provided by the proposed approach.