State-dependent Event Triggered Path Following Control of Unmanned Ground Vehicle with Uncertainties

Abstract

Event-triggered communication (ETC) is a very important scheme to save more limited network resources, while preserving the desired control performance. However, due to the controlled system become more and more complicated, especially there are exist some uncertain parameters in state. This motivates us to investigate a state-dependent event-triggered communication (SD-ETC) to solve the problem of path following control of unmanned ground vehicle (UGV). Then, an event-triggered <tex xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">$H$</tex> <inf xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">∞</inf> controller is designed, which based on state adjustment scheme and combined with the time-delay system modeling method, Lyapunov stability theory. Compared with the existing static ETC, the SD-ETC can dynamically adjust event-triggered threshold based on the real-time state detection of the path following control system. The effectiveness of the proposed SD-ETC is verified by Matlab simulation experiments.