Adaptive tracking control for networked control systems of intelligent vehicle

Abstract

In this paper, the problem of tracking control of networked control systems of intelligent vehicle with external disturbance and network-induced disturbance is studied. A novel high-order adaptive discrete-time sliding-mode control (H-ADSMC) algorithm is proposed. Firstly, a high-order adaptive sliding-mode function on tracking error is constructed, in which the estimated external input disturbance is used as adaptive factor for the sake of reducing the effect of external disturbance. Then, the adaptive sliding-mode controller is obtained, and the convergence of sliding motion is proved. Furthermore, the network-induced disturbance acted on the output of sensor is considered. A new observer is designed to compensate the network-induced disturbance. Finally, the tracking error is analyzed, and the simulations are executed to verify the effectiveness of the proposed H-ADSMC algorithm and designed observer.