论文标题
强大的事件触发控制智能车辆的横向动力学的控制
Robust Event Triggering Control for Lateral Dynamics of Intelligent Vehicles with Designable Inter-event Times
论文作者
论文摘要
在此简介中，提出了对线性二次调节器的改进事件触发的更新机制（ETM），以解决在有界干扰下智能车辆的横向运动控制问题。基于使用时钟样变量来确定触发时间的新事件函数，我们进一步引入了两个新的设计参数，以提高控制性能。与现有的基于事件的控制机制不同，从上述控制框架中得出的事件间时间（IET）是可设计的，这意味着可以更轻松有效地将提出的ETM部署在实用车辆上。此外，改进的IETS设计的ETM具有全球强大的事件分离属性，这对于经受多种干扰的车辆的实际横向运动控制极为需要。理论分析证明了在有界干扰下提出的控制策略的可行性和稳定性。最后，仿真结果验证了理论结果，并显示了拟议的控制策略的优势。
In this brief, an improved event-triggered update mechanism (ETM) for the linear quadratic regulator is proposed to solve the lateral motion control problem of intelligent vehicle under bounded disturbances. Based on a novel event function using a clock-like variable to determine the triggering time, we further introduce two new design parameters to improve control performance. Distinct from existing event-based control mechanisms, the inter-event times (IETs) derived from the above control framework are designable, meaning that the proposed ETM can be deployed on practical vehicle more easily and effectively. In addition, the improved IETs-designable ETM features a global robust event-separation property that is extremely required for practical lateral motion control of vehicle subject to diverse disturbances. Theoretical analysis proves the feasibility and stability of the proposed control strategy for trajectory tracking under bounded disturbances. Finally, simulation results verify the theoretical results and show the advantages of the proposed control strategy.
