Trajectory tracking of an autonomous vehicle using immersion and invariance control

An Immersion and Invariance I & I] controller is designed to control the nonlinear lateral vehicle’s motion, using the steering angle as the only input. Similar to most of the lateral vehicle’s dynamics control law, the cornering stiffness parameters are involved in our proposed controller. Because of the tight relation between tire/road properties and the cornering stiffness parameters, they are not available from the outputs of the sensors and therefore, should be estimated for utilizing in the control law. An online data-driven identification is employed for estimating the cornering stiffness parameters. In addition, a robust model-based fault detection and approximation method in the presence of uncertainties via neural networks is presented. The performance of the obtained control law is investigated via simulation tests in different situations and in the presence of the disturbance. Moreover, some validation tests are performed using the CarSim software to show the effectiveness of our algorithm.