Robust dynamic event-triggered sliding mode control for lateral dynamics of intelligent electric vehicle

This paper proposes a dynamic event triggering mechanism whose triggering characteristics can be designed for a robust sliding mode controller to solve the lateral motion control problem of intelligent electric vehicle in the presence of bounded matched disturbances. The motivation of current work mainly aims to alleviate unnecessary computing and communication of energy-constrained vehicle 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 which is proved to have the capability to effectively suppress the bounded matched disturbances. We derive a new 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 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 method which is highlighted in an overtaking case for the intelligent electric vehicle. To the best of our knowledge, this is the first paper which studies lateral motion control of vehicle with the consideration of the robustness not only for the stability but also for the positive minimum inter-event times.