Two Degree-of-Freedom $H_{\infty}$ Controller Design and Simulation For the Lateral Control of the Vehicle

차량 횡 방향 제어를 위한 2 자유도 $H_{\infty}$제어기 설계 및 모의실험

The aim of this paper is to design a two degree-of-freedom H$_{\infty}$ controller for lateral control of the vehicle. The object of this controller is to track the centerline of the reference lane. The controller is splited into two parts, feedback and prefilter. The feedback part is for both robust stability and disturbance attenuation, while the prefilter is for improving the robust tracking properties of closed loop system. This paper is consist of preface, background theory, dynamics of vehicle, controller design and computer simulation.ter simulation.