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

Zhang, J; Zhang, B; Zhang, N; Wang, C; Chen, Y

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

Zhang, J Zhang, B Zhang, N

Wang, C Chen, Y

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Publisher:: WILEY
Publication Type:: Journal Article
Citation:: International Journal of Robust and Nonlinear Control, 2021, 31, (7), pp. 2436-2464
Issue Date:: 2021-05-10

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Field	Value	Language
dc.contributor.author	Zhang, J
dc.contributor.author	Zhang, B
dc.contributor.author	Zhang, N https://orcid.org/0000-0001-6408-0044
dc.contributor.author	Wang, C
dc.contributor.author	Chen, Y
dc.date.accessioned	2022-02-25T20:14:24Z
dc.date.available	2022-02-25T20:14:24Z
dc.date.issued	2021-05-10
dc.identifier.citation	International Journal of Robust and Nonlinear Control, 2021, 31, (7), pp. 2436-2464
dc.identifier.issn	1049-8923
dc.identifier.issn	1099-1239
dc.identifier.uri	http://hdl.handle.net/10453/154858
dc.description.abstract	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, and actuator fault are simultaneously introduced to make the designed controller robust to more extensive and challenging driving conditions. A novel polytope reduction and norm-bounded uncertainty reduction method is used to effectively handle the time-varying velocity and tire cornering stiffness uncertainties. Then, the uncertain vehicle model can be reconstructed as an uncertain network control system model with time delay and actuator fault. Due to the inevitable time delay and actuator fault, a new cubic absolute-value Lyapunov function is developed to guarantee the asymptotical stability of the closed control system with the H∞ performance, and the modified project-based adaptive law is applied to strengthen the fault tolerant ability. Furthermore, a progressive event-triggered mechanism is proposed for the collaborative design of robust fault tolerant automatic steering controller, which can signally improve the communication resource utilization of the limited bandwidth in-vehicle network. Finally, the performance comparisons of different controllers are presented. These results prove that the proposed controller can simultaneously guarantee the path tacking performance and lateral dynamics stability, and save the communication resource of the in-vehicle network.
dc.language	English
dc.publisher	WILEY
dc.relation.ispartof	International Journal of Robust and Nonlinear Control
dc.relation.isbasedon	10.1002/rnc.5393
dc.rights	info:eu-repo/semantics/closedAccess
dc.subject	0102 Applied Mathematics, 0906 Electrical and Electronic Engineering, 0913 Mechanical Engineering
dc.subject.classification	Industrial Engineering & Automation
dc.title	A novel robust event-triggered fault tolerant automatic steering control approach of autonomous land vehicles under in-vehicle network delay
dc.type	Journal Article
utslib.citation.volume	31
utslib.for	0102 Applied Mathematics
utslib.for	0906 Electrical and Electronic Engineering
utslib.for	0913 Mechanical Engineering
pubs.organisational-group	/University of Technology Sydney
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology/School of Mechanical and Mechatronic Engineering
utslib.copyright.status	closed_access	*
dc.date.updated	2022-02-25T20:14:23Z
pubs.issue	7
pubs.publication-status	Published
pubs.volume	31
utslib.citation.issue	7

Abstract:

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, and actuator fault are simultaneously introduced to make the designed controller robust to more extensive and challenging driving conditions. A novel polytope reduction and norm-bounded uncertainty reduction method is used to effectively handle the time-varying velocity and tire cornering stiffness uncertainties. Then, the uncertain vehicle model can be reconstructed as an uncertain network control system model with time delay and actuator fault. Due to the inevitable time delay and actuator fault, a new cubic absolute-value Lyapunov function is developed to guarantee the asymptotical stability of the closed control system with the H∞ performance, and the modified project-based adaptive law is applied to strengthen the fault tolerant ability. Furthermore, a progressive event-triggered mechanism is proposed for the collaborative design of robust fault tolerant automatic steering controller, which can signally improve the communication resource utilization of the limited bandwidth in-vehicle network. Finally, the performance comparisons of different controllers are presented. These results prove that the proposed controller can simultaneously guarantee the path tacking performance and lateral dynamics stability, and save the communication resource of the in-vehicle network.

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http://hdl.handle.net/10453/154858