Robust Event Triggering Control for Lateral Dynamics of Intelligent Vehicles with Designable Inter-event Times

TL;DR

This paper introduces a novel event-triggered control mechanism for intelligent vehicle lateral dynamics that allows for customizable inter-event times, enhancing robustness and practical deployment under disturbances.

Contribution

It proposes a new event function with designable inter-event times and demonstrates its stability and robustness for vehicle lateral control under disturbances.

Findings

Control strategy is theoretically proven to be stable.

Simulation results confirm improved control performance.

Inter-event times are customizable for practical applications.

Abstract

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.