Adaptive event-triggered based path following output feedback control for networked autonomous vehicles

Abstract

This paper studies the adaptive event-triggered (AET)-based path following controller design problem for a networked autonomous vehicle, where the limited networked bandwidth, system nonlinearities and uncertainties are considered. The polytopic model is proposed to construct a linear parameter varying (LPV) system for the nonlinear vehicle system. Taking into account the effects of event trigger on the path following performance, an improved AET mechanism is designed to achieve a balance between efficient communication and accurate path following requirements. Sufficient conditions are developed to guarantee that the closed-loop system is exponentially stable with an H∞ performance index being satisfied. In addition, a co-design method with less conservatism is derived to obtain the event-triggered weight matrix and output feedback controller gain matrix simultaneously. Finally, simulation results verify the effectiveness of the proposed control strategy.