Low-Complexity Quantized Prescribed Performance Control for Constrained Steer-By-Wire Systems With Input Nonlinearity and Bandwidth Limitations

In this article, we investigate the low-complexity prescribed performance control problem for uncertain steer-by-wire systems subject to input nonlinearity (i.e., actuator fault and dead-zone), full-state constraints, and communication bandwidth limitations. Without the accurate mathematical model and introducing intelligent approximation/parameter estimation techniques, a low-complexity prescribed performance control method is proposed based on a new error transformation and barrier Lyapunov function technique, which utilizes inherent robustness to handle model uncertainty, input nonlinearity, and quantization and event-triggering error. Besides, a dual quantization control scheme is developed to compensate for the effect of discontinuous signals caused by state and input quantization in the closed-loop control system. Finally, theoretical analysis shows that the tracking error and full-state can be constrained to prescribed sets within a presetting time, and the closed-loop stability can be guaranteed. Numerical simulations and experiments are given to verify the validity of the proposed method.