Observer-based prescribed performance path-following control for autonomous ground vehicles via error shifting method

This paper addresses the path-following control problems for autonomous ground vehicles under prescribed performance. A fixed-time observer is designed to estimate the sideslip angle by utilizing accessible vehicle state variables within a fixed time frame. Furthermore, an improved prescribed performance control (PPC) method is proposed to eliminate the initial error constraint in conventional PPC methods. In addition, the settling time of the shifting function is adjustable based on the vehicle’s physical limits and initial errors, enhancing practical applicability. Finally, simulation and experimental results demonstrate the effectiveness of the proposed control scheme and sideslip angle observer in diverse driving scenarios