Linear parameter-varying control and H-infinity synthesis dedicated to lateral driving assistance

This paper presents the design of a linear parameter-varying controller with guaranteed H_∞ performance for lateral driving assistance. The considered uncertainties consist in road adhesion, the mass of the vehicle and driver dynamics. It used to add a steering torque to that of the driver in order to improve lane keeping and yaw dynamic under external disturbances (such as lateral wind) for a varying longitudinal velocity ν. The controller, thus, changes with the operating parameter ν so that it is gain-scheduled.