Simultaneous Estimation of Vehicle Sideslip and Roll Angles Using an Integral-Based Event-Triggered H$_{\infty }$ Observer Considering Intravehicle Communications

Event-Triggered Robust Path Tracking Control Considering Roll Stability Under Network-Induced Delays for Autonomous Vehicles

“…The maximum vehicle longitudinal acceleration is assumed as a x = 4 m/s 2 . Therefore, the bounds of the time-varying parameters of system (20), which are used to determine the polytopic representation (22), are given by…”

“…Moreover, the obtained results also confirm that the proposed event-triggering mechanism can improve the efficiency of the vehicle control network system in terms of data exchange, as it discards around 64% of the computed control orders. To evaluate the real-time control performance, experimental tests are planned for future works with a real vehicle platform on a real test track in our labs [22], [38]. Moreover, the proposed event-triggered SOF control scheme can be further extended to take into account the modeling uncertainties in lateral tires forces and/or the actuator faults.…”

“…For any vector ζ (t), and any matrices of appropriate dimensions M 1 , M 2 , M 4 and X , the following algebraic relation can be directly deduced from (22):…”

“…In networked control systems (NCSs), the information of the plant is sampled and sent to different nodes [22]. In autonomous vehicles, control area network (CAN) is commonly utilized for in-vehicle communication due to its robustness and lightweight properties [23].…”

Tire Slip H∞ Control for Optimal Braking Depending on Road Condition

“…Moreover, the addition of nonconvex constraints also increases the computation time, and the online solvers used in the literature only offer convergence to local optima [ 11 , 12 ]. Classical robust control approaches allow to deal with uncertainties, disturbances and noise by design, while ensuring stability, and do not present the computational drawback of the above, as the control gains for the controller are calculated offline [ 13 , 14 , 15 , 16 , 17 ].…”