Adaptive event-triggered integrated control for autonomous vehicle steering and lateral stability with interval type-2 fuzzy method

IF 3.1 3区计算机科学 Q2 AUTOMATION & CONTROL SYSTEMS

Mechatronics Pub Date : 2025-01-02 DOI:10.1016/j.mechatronics.2024.103290

Pengxu Li , Yongfu Wang , Jing Zhao , Panshuo Li

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引用次数: 0

Abstract

This paper studies the integrated control problem of autonomous vehicle steering system and lateral stability. Firstly, considering the steer-by-wire system dynamics and vehicle lateral dynamics together, an uncertain integrated model is established for controller design. Secondly, an adaptive event-triggered scheme is adopted in the control system design to save the communication resources of the in-vehicle communication network and reduce the potential network congestion. Thirdly, considering the time-varying longitudinal velocity and measurement error uncertainty in the system, an interval type-2 fuzzy-based controller is designed, and the

H_{\infty}

tracking performance is guaranteed. In addition, due to the presence of system state variables that are difficult to measure, the static output-feedback scheme is used in control design, and a co-design method of the feedback gains and the event-triggering weight matrix is presented. Finally, the performance and superiority of the designed controller are verified via the real-time hardware-in-the-loop experiment. The experimental results show that the designed control strategy can effectively improve the lateral stability under the premise of precise steering and significantly save the communication bandwidth.

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区间2型模糊自动驾驶车辆转向与横向稳定性自适应事件触发综合控制

本文研究了自动驾驶汽车转向系统与横向稳定性的综合控制问题。首先，综合考虑线控转向系统动力学和车辆横向动力学，建立不确定集成模型进行控制器设计；其次，在控制系统设计中采用自适应事件触发方案，节省车载通信网络的通信资源，减少潜在的网络拥塞；第三，考虑系统纵向速度时变和测量误差的不确定性，设计了区间2型模糊控制器，保证了系统的H∞跟踪性能。此外，由于存在难以测量的系统状态变量，在控制设计中采用静态输出反馈方案，并提出了反馈增益与事件触发权矩阵的协同设计方法。最后，通过硬件在环实时实验验证了所设计控制器的性能和优越性。实验结果表明，所设计的控制策略能够在保证精确转向的前提下有效地提高横向稳定性，并显著节省通信带宽。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

Mechatronics 工程技术-工程：电子与电气

CiteScore

5.90

自引率

9.10%

发文量

审稿时长

109 days

期刊介绍： Mechatronics is the synergistic combination of precision mechanical engineering, electronic control and systems thinking in the design of products and manufacturing processes. It relates to the design of systems, devices and products aimed at achieving an optimal balance between basic mechanical structure and its overall control. The purpose of this journal is to provide rapid publication of topical papers featuring practical developments in mechatronics. It will cover a wide range of application areas including consumer product design, instrumentation, manufacturing methods, computer integration and process and device control, and will attract a readership from across the industrial and academic research spectrum. Particular importance will be attached to aspects of innovation in mechatronics design philosophy which illustrate the benefits obtainable by an a priori integration of functionality with embedded microprocessor control. A major item will be the design of machines, devices and systems possessing a degree of computer based intelligence. The journal seeks to publish research progress in this field with an emphasis on the applied rather than the theoretical. It will also serve the dual role of bringing greater recognition to this important area of engineering.