Trajectory tracking control based on the dual-motor autonomous steering system with time-varying network-induced time delay

In order to solve the stability problem caused by the communication time lag between the upper-level trajectory tracking controller and the lower-level motor controller in the dual-motor autonomous steering system, this paper proposes an LMI-based trajectory tracking control method to improve the stability and tracking accuracy of the vehicle. First, time-varying network time lag modeling is carried out based on the working mechanism of on-board CAN communication. Upon the vehicle lateral dynamics state space model, a vehicle lateral dynamics model containing the uncertainty term of the network time lag is established. Next, a feedback controller is designed based on LMI, and a feedforward control quantity is introduced into the controller to eliminate the lateral position steady-state error. Finally, it is proved by simulation and HiL test that the LMI trajectory controller considering CAN network time lag has good tracking accuracy and vehicle stability, and the controller has strong robustness to vehicle speed. Meanwhile, the lower-level motor controllers under the control of the robust controller also present good stability.