Event-triggered type-2 fuzzy-based sliding mode control for steer-by-wire systems |
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Institution: | 1. School of Electrical and Information Engineering, Jiangsu University, Zhenjiang, 212013, China;2. Automotive Engineering Research Institute, Jiangsu University, Zhenjiang, 212013, China |
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Abstract: | This paper proposes an event-triggered higher-order sliding mode control for steer-by-wire (SbW) systems subject to limited communication resources and uncertain nonlinearity. First, an interval type-2 fuzzy logic system (IT2 FLS) is adopted to approximate the uncertain nonlinearities. A fuzzy-based state observer is developed to estimate unavailable states of the extended SbW system. Then, to save communication resources and eliminate chattering, an event-triggered higher-order sliding mode control is proposed for the SbW system. The key advantage is that the proposed control scheme can offset the observation error and the event-triggering error. After that, the practical finite-time stability of the closed-loop SbW system is proved in the framework of the Lyapunov theory. Finally, numerical simulations and vehicle experiments are given to evaluate the effectiveness and superiority of the proposed scheme. |
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Keywords: | Steer-by-wire (SbW) system State observer Interval type-2 fuzzy logic system (IT2 FLS) Event-triggered control Practical finite-time stability Vehicle experiment |
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