Low-Complexity Control for Uncertain Time-Varying SbW Systems With Input Nonlinearity and Dual-Channel Event-Triggering Communication

This paper addresses the low-complexity prescribed performance control problem for steer-by-wire (SbW) systems with input nonlinearity, model uncertainty, full-state constraints, and dual-channel (i.e., the controller-to-actuator and sensor-to-controller channels) event-triggering communication. Firstly, considering the coupling of longitudinal and lateral dynamics, the nonlinearity of tire force, the time-varying characteristics of longitudinal velocity and road adhesion coefficient, the time-varying nonlinear models of the 8-DOF vehicle dynamics system and SbW system are established. Secondly, a dual-channel event-triggering mechanism and low-complexity prescribed performance control method is proposed, in which the communication resources of sensor-to-controller and controller-to-actuator channels and the computing resources of the controller can be saved, also, the model uncertainty and measurement error can be against by the inherent robustness of the proposed methods. Thirdly, theoretical analysis is presented to show that the full-state and tracking errors of the SbW systems can be constrained to the prescribed ranges, and all signals of the closed-loop system are globally uniformly bounded. Finally, simulations and experiments are given to verify the validity of developed methods.