From few decades, the engineers are facing troubles and challenges in achieving the robust behavior of autonomous vehicles. The main task here is to achieve the autonomous vehicles stability, smooth tracking of path and fast response. In order to accomplish the mentioned task, we work on Linear Quadratic Gaussian (LQG). We implement the LQG with adaptive Q-Matrix in MATLAB and Simulink and see that it exhibits the smooth tracking, minimizes the overshoot and settling time. The LQG also rejects the noise or disturbance and tracks path smoothly even with the uncertainties. The performance of LQG, PID, Fuzzy, MPC and LQR controllers are compared with the results of LQG, and it is concluded that the LQG perform better in case of tracking and rejecting the disturbance.

Keywords—LQG, LQR, Kalman Filter, PID, MPC