Event-triggered finite-time adaptive path following control for connected-automated vehicle
An event-triggered adaptive path following control strategy is proposed in order to address the problem of connected-automated vehicles with the issues of limited network bandwidth and computing resources.A nonlinear path following model,taking into account the effect of tire sideslip,is established.Then,an adaptive backstepping controller based on finite-time is designed.The influence of tire side slip is suppressed by designing an adaptive law,ensuring that the system achieves stability and converges to the desired path within a limited time.Furthermore,the event-triggered mechanism proposed can reduce the number of control commands transmission effectively while guaranteeing the accuracy of path following.Finally,the results of simulation show that the proposed method can ensure the system with desired path following performance under the influence of tire side slip disturbance,while reducing the network bandwidth occupancy rate.
connected-automated vehiclepath followingevent-triggered mechanismbacksteppingtire side slipfinite-time
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