Adaptive Event-Triggered Quantized Path Following Control for Networked Autonomous Vehicles With Backlash Hysteresis

Zhang, Tengfei; Wang, Heng; Che, Weiwei; Li, Qing

doi:10.1109/tnse.2024.3359180

IEEE Trans. Netw. Sci. Eng.

2024

DOI: 10.1109/tnse.2024.3359180

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Adaptive Event-Triggered Quantized Path Following Control for Networked Autonomous Vehicles With Backlash Hysteresis

Tengfei Zhang,

Heng Wang,

Weiwei Che

et al.

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Adaptive event-triggered dynamic output feedback control for networked autonomous vehicles affected by signal quantization and actuator failures

Zhang,

Li,

Wang

et al. 2024

Proceedings of the Institution of Mechanical Engineers, Part D:

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In this paper, an event-triggered sliding-mode output feedback control (SMOFC) strategy with adaptive fault-tolerance is proposed to achieve path tracking for networked autonomous vehicles, considering the challenges posed by network communication and electric steering systems. Initially, signal quantization, external disturbances, and actuator faults are incorporated into the vehicle model. This incorporation enhances the designed controller’s robustness against a broader and more demanding range of driving scenarios. Subsequently, in situations where only output feedback is available, a dynamic output compensator is designed to reconstruct the unmeasurable vehicle state. Utilizing the reconstructed vehicle state, an event-triggered strategy is devised to alleviate the network burden and determine the minimum time between triggering events to prevent Zeno behavior. Furthermore, an adaptive mechanism is employed to estimate the actuator fault boundaries. The performance of the designed controller is evaluated through simulation instances.

show abstract

Adaptive event-triggered dynamic output feedback control for networked autonomous vehicles affected by signal quantization and actuator failures

Zhang,

Li,

Wang

et al. 2024

Proceedings of the Institution of Mechanical Engineers, Part D:

View full text Add to dashboard Cite

show abstract

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Adaptive Event-Triggered Quantized Path Following Control for Networked Autonomous Vehicles With Backlash Hysteresis

Cited by 1 publication

References 43 publications

Adaptive event-triggered dynamic output feedback control for networked autonomous vehicles affected by signal quantization and actuator failures

Adaptive event-triggered dynamic output feedback control for networked autonomous vehicles affected by signal quantization and actuator failures

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