Abstract: Aiming at the low control accuracy and poor robustness of traditional trajectory tracking controller based on the tracking error model in complex driving environment, a robust model predictive trajectory tracking control strategy is designed. The vehicle convex multicellular dynamic model is used to explicitly describe the vehicle dynamic characteristics, and the robust performance objective function is designed in combination with the trajectory tracking multi-objective constraint, and the state feedback control law is solved through the linear matrix inequality optimization. Feedforward control is introduced to eliminate the steady-state errors and improve the tracking accuracy. The simulation result shows that under the different driving conditions on the basis of ensuring the vehicle tracking accuracy, the controller can effectively improve the transmission stability and the robustness is stronger.

Key words: intelligent vehicle, trajectory tracking control, polytope model, lateral stability, robust control