Robust Event Triggered Control for Lateral Dynamics of Intelligent Vehicle With Designable Inter-Event Times

Abstract

In this brief, an improved event-triggered mechanism (ETM) whose inter-event times (IETs) are designable for the linear quadratic regulator is proposed to solve the lateral motion control problem of intelligent vehicle under bounded disturbances. Based on the IETs-designable event-triggered control mechanism proposed by our previous work, we further introduce two new design parameters into the clock-like variable dynamics in the event condition, so as to derive larger IETs. Distinct from existing ETMs, the above control framework features a global robust event-separation property (RESP) that is extremely required for resisting diverse disturbances, and its IETs are designable to cater to different needs, meaning that the proposed ETM can be deployed on the practical vehicle more easily and effectively. Theoretical analysis proves the stability and robustness of the proposed event-based lateral motion control strategy with the adjustability of IETs and global RESP. Finally, simulation results verify the theoretical results and illustrate the advantages of the proposed control strategy.