Adaptive Dynamic Programming with Event-Triggered Sampling Control for Path Following of Autonomous Vehicles

Sampled-data control for dynamic programming of continuous-time system, which can facilitate to implement control actions under networked environments, is rarely considered in most existing works. In order to address this issue, an event-triggered dynamic programming sampling control (ET-DPSC) appro...

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Bibliographic Details
Published inJournal of Advanced Computational Intelligence and Intelligent Informatics Vol. 29; no. 2; pp. 316 - 324
Main Authors Zhang, Haining, Qin, Fengshuo, Zhang, Pengfei
Format Journal Article
LanguageEnglish
Published Tokyo Fuji Technology Press Ltd 20.03.2025
富士技術出版株式会社
Fuji Technology Press Co. Ltd
Subjects
Adaptive sampling
Autonomous vehicles
Bellman theory
Continuous time systems
Dynamic programming
event-triggered control
input delay
Linear quadratic regulator
path following
Stability criteria
Trajectory planning
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Summary:Sampled-data control for dynamic programming of continuous-time system, which can facilitate to implement control actions under networked environments, is rarely considered in most existing works. In order to address this issue, an event-triggered dynamic programming sampling control (ET-DPSC) approach is investigated for networked path-following control of autonomous vehicles. The first goal is to establish the sampled-data-based event-triggered path-following control model using Hamilton–Jacobi–Bellman equation. Secondly, the asymptotic stability criterion in an input-to-state sense should be tackled by exploiting Lyapunov theory and input delay approach. As a third goal, the sampled-data controller based on dynamic programming method should be synthesized. Compared to most existing ADP-based control strategies, the proposed ET-DPSC approach not only guarantees the stability of path-following control but also provides significant benefits for control implementation under communication-constrained environments. In addition, Zeno behavior is naturally excluded by using periodic discrete-time sampling control fashion. At last, Simulink and CarSim joint simulations are conducted to show effectiveness of the proposed ET-DPSC scheme by comparing with linear quadratic regulation without considering input delay.
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ISSN:1343-0130
1883-8014
DOI:10.20965/jaciii.2025.p0316