Finite-time control for the lateral dynamics of intelligent car: a sliding mode event triggering approach

Abstract

This essay investigates the lateral dynamics control problem of an intelligent car with respect to bounded disturbances. A sliding mode controller is designed to address the above issue by introducing an event triggering mechanism. Compared with existing lateral motion adjustment algorithms with periodic control, unnecessary signal samplings, transmissions, computations and actuations are avoided, which indirectly saves the limited energy. In addition, finite-time convergence performance is achieved due to the sliding mode. Finally, numerical simulation experiments are used to illustrate the theoretic results