A novel robust event‐triggered fault tolerant automatic steering control approach of autonomous land vehicles under in‐vehicle network delay

• Published in: International journal of robust and nonlinear control Vol. 31; no. 7; pp. 2436 - 2464
• Main Authors: Zhang, Jie, Zhang, Bangji, Zhang, Nong, Wang, Chenyang, Chen, Yuanchang
• Format: Journal Article
• Language: English
• Published: Hoboken, USA John Wiley & Sons, Inc 10.05.2021; Wiley Subscription Services, Inc
• Subjects: Actuators; Adaptive control; Automatic control; Control stability; Control systems design; Controllers; Cornering; Driving conditions; Dynamic stability; event‐triggered mechanism; Fault tolerance; fault tolerant; H-infinity control; Lateral stability; Liapunov functions; Motion control; Network control; parameter uncertainties; Parameter uncertainty; Path tracking; Performance assessment; Reduction; Resource utilization; robust automatic steering control; Robust control; Steering; Stiffness; time delay; Time lag; Vehicles

This paper proposes a novel robust event‐triggered fault tolerant automatic steering control strategy for autonomous land vehicles to achieve path tracking and vehicle lateral motion control under in‐vehicle network delay. From the practical point of view, the parameter uncertainties, time delay, an...