Robust Dynamic Event-Triggered Sliding ModeControl of Lateral Dynamics of Intelligent ElectricVehicle with Designable Triggering Characteristics

Abstract This paper proposes a dynamic event triggering mechanism (ETM) whose triggering characteristics can be designed for a novel sliding mode controller to solve the lateral motion control problem of intelligent electric vehicle (IEV) in the presence of bounded matched disturbances. The motivation of current work mainly aims to alleviate unnecessary computing and communication of energy-constrained IEV control systems by a large margin while ensuring its stability and robustness. The main contributions of the paper are summarized as follows. We design a continuous-time robust sliding mode controller (RSMC) which is proved to have the capability to effectively suppress the bounded matched disturbances. We derive a dynamic event triggering rule, under which the positive minimum value and the evolution characteristics of the inter-event times are able to be designed. We analyze the stability via the Lyapunov theory, exclude Zeno behavior and prove that the semi-global robust event-separation property (RESP) holds for the above constructed event-triggered control system theoretically. We numerically evaluate the effectiveness of our theoretical results and the advantages of the proposed methods which is highlighted in an overtaking case for the IEV. To the best of our knowledge, this is the first paper which studies lateral motion control of IEV with the consideration of the robustness not only for the stability but also for the positive minimum inter-event times.