This paper addresses the prescribed tracking performance control problem for uncertain steer-by-wire (SbW) systems with input nonlinearity (including dead-zone and actuator fault) and the limitation of controller-area-network (CAN) bandwidth. An adaptive interval type-2 fuzzy logic system (IT2 FLS) is introduced to approximate the lumped model uncertainty, and a switching event-triggering mechanism (ETM) is applied to save the communication resources. Combining the backstepping approach and barrier Lyapunov function techniques, a prescribed tracking performance control method is proposed for SbW systems, where the initial values of state errors are no longer required in the controller design. Theoretical analysis shows that the tracking error can converge to the predefined residual set within preset time instead of the time tending infinite, while the closed-loop system is semi-globally stable. Simulations and vehicle experiments are presented to verify the effectiveness of the proposed control method.
Event-Triggered Prespecified Performance Control for Steer-by-Wire Systems With Input Nonlinearity
IEEE Transactions on Intelligent Transportation Systems ; 24 , 7 ; 6922-6931
01.07.2023
1470419 byte
Aufsatz (Zeitschrift)
Elektronische Ressource
Englisch
SAGE Publications | 2021
|STEER-BY-WIRE SYSTEM, STEER-BY-WIRE CONTROL DEVICE, AND STEER-BY-WIRE CONTROL METHOD
Europäisches Patentamt | 2022
|STEER-BY-WIRE SYSTEM, STEER-BY-WIRE CONTROL APPARATUS, AND STEER-BY-WIRE CONTROL METHOD
Europäisches Patentamt | 2024
|SAE Technical Papers | 2022
|