Observer-based event-triggered control of steer-by-wire systems with prespecified tracking accuracy

摘要

This paper addresses the event-triggered tracking control problem of the SbW system subject to unavailable steering angular velocity of front-wheels, time-varying external disturbance, and uncertain dynamics, including friction torque and self-aligning torque. First, an adaptive state observer is proposed to estimate the unavailable steering angular velocity of front-wheels. The uncertain nonlinearity and time-varying disturbance can be estimated by the adaptive interval type-2 fuzzy logic system (IT2 FLS) and the disturbance observer, respectively. An event-triggered control is proposed for SbW systems to guarantee the prespecified control performance and save communication resources in the controller-to-actuator channel. Much importantly, the nested robust terms are incorporated in the control scheme to counteract the observation error and overcome the negative influence of the event-triggering error. Theoretical analysis shows that the prespecified arbitrary tracking accuracy can be guaranteed within finite time, and the Zeno-behavior can be strictly avoided while saving communication resources in the controller-to-actuator channel. Finally, simulation and vehicle experiment results and some comparisons are given to evaluate the effectiveness of the proposed method.