Path Tracking Robust Control Strategy for Intelligent Vehicle Based on Force-Driven with MPC and H∞

• A novel force-driven path tracking model using a linear time-varying tire model captures nonlinear tire dynamics for improved control. • The integrated H∞ and MPC controller with LMI-based constraints enhances robustness against modeling errors, parameter uncertainties, and curvature disturbances. • Simulation results show significant reductions in lateral deviation (up to 27.85%) and course angle deviation (up to 31.17%) under challenging conditions. • The proposed strategy offers a practical solution for high-speed and large-curvature path tracking in intelligent vehicles.