Event-Triggered Steering Control for Automated Vehicles With Prescribed Performance
This paper presents a feedback controller for automated vehicles with time-varying external disturbance and uncertain nonlinearity. The contribution of this paper is threefold. First, a prescribed performance function with fixed time convergence characteristic is developed to construct a feedback co...
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| Veröffentlicht in: | IEEE access 2021, Vol.9, p.104560-104571 |
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| creator | Luo, Gang Li, Pengxu Feng, Ziliang Ma, Bingxin |
| description | This paper presents a feedback controller for automated vehicles with time-varying external disturbance and uncertain nonlinearity. The contribution of this paper is threefold. First, a prescribed performance function with fixed time convergence characteristic is developed to construct a feedback controller, in which the fixed convergence time and convergence accuracy are preset. Second, an event-triggered strategy is designed to reduce the communication data in the controller-to-actuator channel. Third, a simple feedback controller is proposed for steering control of the automated vehicles, which eliminates the system uncertainty and the influence of external interference on the control performance. The contradiction method proves that the tracking error can be guaranteed to be within the preset range. Moreover, the numerical simulations and experiments domenstrate the effectiveness of the proposed method. |
| doi_str_mv | 10.1109/ACCESS.2021.3099536 |
| format | Article |
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The contribution of this paper is threefold. First, a prescribed performance function with fixed time convergence characteristic is developed to construct a feedback controller, in which the fixed convergence time and convergence accuracy are preset. Second, an event-triggered strategy is designed to reduce the communication data in the controller-to-actuator channel. Third, a simple feedback controller is proposed for steering control of the automated vehicles, which eliminates the system uncertainty and the influence of external interference on the control performance. The contradiction method proves that the tracking error can be guaranteed to be within the preset range. Moreover, the numerical simulations and experiments domenstrate the effectiveness of the proposed method.</description><identifier>ISSN: 2169-3536</identifier><identifier>EISSN: 2169-3536</identifier><identifier>DOI: 10.1109/ACCESS.2021.3099536</identifier><identifier>CODEN: IAECCG</identifier><language>eng</language><publisher>Piscataway: IEEE</publisher><subject>Actuators ; Adaptive control ; Automatic control ; Automation ; Control systems ; Convergence ; event-triggered mechanism ; experiments ; Feedback control ; fixed convergence time ; Friction ; prescribed performance control ; Steer-by-wire system ; Steering ; Torque ; Tracking errors ; Vehicle dynamics ; Wheels</subject><ispartof>IEEE access, 2021, Vol.9, p.104560-104571</ispartof><rights>Copyright The Institute of Electrical and Electronics Engineers, Inc. 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Moreover, the numerical simulations and experiments domenstrate the effectiveness of the proposed method.</description><subject>Actuators</subject><subject>Adaptive control</subject><subject>Automatic control</subject><subject>Automation</subject><subject>Control systems</subject><subject>Convergence</subject><subject>event-triggered mechanism</subject><subject>experiments</subject><subject>Feedback control</subject><subject>fixed convergence time</subject><subject>Friction</subject><subject>prescribed performance control</subject><subject>Steer-by-wire system</subject><subject>Steering</subject><subject>Torque</subject><subject>Tracking errors</subject><subject>Vehicle dynamics</subject><subject>Wheels</subject><issn>2169-3536</issn><issn>2169-3536</issn><fulltext>true</fulltext><rsrctype>article</rsrctype><creationdate>2021</creationdate><recordtype>article</recordtype><sourceid>ESBDL</sourceid><sourceid>RIE</sourceid><sourceid>DOA</sourceid><recordid>eNpNUV1rwjAUDWODifMX-FLYc13SfDWPUtwmCBPqtseQJmmtaOPSONi_X1xFljzk5t5zzj1wAJgiOEMIiqd5USzKcpbBDM0wFIJidgNGGWIixbG-_Vffg0nf72A8eWxRPgLl4tt2Id34tmmstyYpg7W-7ZqkcF3wbp_UzifzU3AHFeL4w25bvbd98tmGbbL2tte-reJgbX1EHlSn7QO4q9W-t5PLOwbvz4tN8Zqu3l6WxXyVagLzkFKioVEk07XgJtpBHHMjsDG6UhXCUKO6ihdF95pQJDJcs5pQZgjkRhuNx2A56BqndvLo24PyP9KpVv41nG-k8uFsVwpRYawY4ZRzwjWJ35zXGSQKClUpFbUeB62jd18n2we5cyffRfsyo5SRnFFGIwoPKO1d33tbX7ciKM9hyCEMeQ5DXsKIrOnAaq21V4YgInpg-BenCYVj</recordid><startdate>2021</startdate><enddate>2021</enddate><creator>Luo, Gang</creator><creator>Li, Pengxu</creator><creator>Feng, Ziliang</creator><creator>Ma, Bingxin</creator><general>IEEE</general><general>The Institute of Electrical and Electronics Engineers, Inc. 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The contribution of this paper is threefold. First, a prescribed performance function with fixed time convergence characteristic is developed to construct a feedback controller, in which the fixed convergence time and convergence accuracy are preset. Second, an event-triggered strategy is designed to reduce the communication data in the controller-to-actuator channel. Third, a simple feedback controller is proposed for steering control of the automated vehicles, which eliminates the system uncertainty and the influence of external interference on the control performance. The contradiction method proves that the tracking error can be guaranteed to be within the preset range. Moreover, the numerical simulations and experiments domenstrate the effectiveness of the proposed method.</abstract><cop>Piscataway</cop><pub>IEEE</pub><doi>10.1109/ACCESS.2021.3099536</doi><tpages>12</tpages><orcidid>https://orcid.org/0000-0003-2357-6451</orcidid><oa>free_for_read</oa></addata></record> |
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| subjects | Actuators Adaptive control Automatic control Automation Control systems Convergence event-triggered mechanism experiments Feedback control fixed convergence time Friction prescribed performance control Steer-by-wire system Steering Torque Tracking errors Vehicle dynamics Wheels |
| title | Event-Triggered Steering Control for Automated Vehicles With Prescribed Performance |
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