Dynamic Event-Triggered Robust Switching Control for Path Tracking of Electric Semi-Trailer Trucks in Varying-Curvature Paths
针对电动半挂车在变曲率路径下的跟踪问题，提出一种动态事件触发的鲁棒切换控制方法，通过协调转向模式提升精度和稳定性，并节省通信资源。
To enable electric semi-trailer trucks (STTs) to adapt to path-tracking scenarios with varying-curvature, this article proposes a dynamic event-triggered mechanism (DETM)-based robust switching control method to enhance the overall tracking accuracy and stability. First, the vehicle’s nonlinear dynamics model, brush tire model, and preview dynamics model are augmented into a coupled lateral dynamics model, which is linearized and then transformed into a linear parameter varying (LPV) model with time-varying motion state and tire parameters. Second, a robust switching controller is developed, incorporating two steering modes: a tractor-trailer coordinated steering system and a tractor independent steering system. Simultaneously, a DETM is introduced between the sensors and the controller to conserve communication resources. Then, considering the stability and robustness of the DETM-based robust switching controller against linearization errors, model uncertainties, environmental disturbances, DETM, and mode switching, a codesign criterion for the DETM and controller is established using Lyapunov stability theory, linear matrix inequality (LMI) techniques, and average dwell time (ADT) theory. Finally, hardware-in-the-loop (HIL) tests under comprehensive driving conditions validate the effectiveness and reliability of the proposed method.