Cascade Backstepping Control With Augmented Observer for Lateral Control of Vehicle

This paper proposes a cascaded backstepping control method with an augmented observer for the lateral of autonomous vehicle. The proposed structure consists inner-loop electric power steering (EPS) system and outer-loop lane-keeping (LKS). controller LKS calculates provides desired angle to EPS maintaining vehicle at center lane. Subsequently, generates torque track from outer loop. can guarantee stability considering both dynamics. In addition, affords robustness against unknown model parameters external disturbances. closed loop overall system, including dynamics is proven using input-to-state stable property. Controller design consideration improve performance.