Event-Triggered Sliding Mode Control Using the Interval Type-2 Fuzzy Logic for Steer-by-Wire Systems with Actuator Fault

• Published in: International journal of fuzzy systems Vol. 24; no. 7; pp. 3104 - 3117
• Main Authors: Li, Hongjuan, Tie, Ming, Wang, Yongfu
• Format: Journal Article
• Language: English
• Published: Berlin/Heidelberg Springer Berlin Heidelberg 01.10.2022; Springer Nature B.V
• Subjects: Actuators; Adaptive control; Artificial Intelligence; Autonomous vehicles; Communication; Computational Intelligence; Control methods; Controllers; Design; Drive by wire; Engineering; Friction; Fuzzy logic; Management Science; Nonlinearity; Operations Research; Perturbation; Sliding mode control; Stability analysis; Traffic accidents & safety; Event-triggered adaptive sliding mode control; Practical finite-time stability; Nonlinear steer-by-wire (SbW) systems; Interval type-2 fuzzy logic system (IT2 FLS); Vehicle experiments; Actuator fault
• ISSN: 1562-2479; 2199-3211
• DOI: 10.1007/s40815-022-01323-x

This paper proposes a fuzzy modeling and event-triggered adaptive sliding mode control for steer-by-wire (SbW) systems subject to uncertain nonlinearity, time-varying perturbation, actuator fault, and limited communication resources. First, an interval type-2 fuzzy logic system (IT2 FLS) based on Lyapunov's adaptive scheme is built to model the uncertain nonlinearity. Then, an event-triggered adaptive sliding mode control method is designed to overcome the limited communication resources, time-varying perturbation, and actuator fault. This method eliminates the chattering phenomenon by utilizing nested adaptive technology and has practical finite-time stability. Theoretical analysis shows that the Zeno phenomenon is excluded. Finally, the validity of the methods is evaluated using simulations and vehicle experiments.