Composite Nonlinear Shared Steering Control of Vehicles Using Self-Triggered Adaptive Dynamic Programming

This paper presents a composite nonlinear feedback (CNF) control method using self-triggered (ST) adaptive dynamic programming (ADP) algorithm in a shared steering control framework. In this framework, the human driver takes control of the vehicle together with the automatic controller. To make further improvement in the control strategy, the CNF controller is designed for refining the transient performance. In addition, the self-triggered rule enables the system to update in discrete times while maintaining stability, which saves computing resources and increases efficiency. Moreover, we solve the optimal control problem through iteration using system input and output information by introducing the ADP algorithm, reducing the needs for accurate system dynamics. Carsim-Simulink co-simulations are conducted to verify the effectiveness of the proposed control method.