Adaptive Event-Triggered Interval Type-2 T-S Fuzzy Control for Lateral Dynamic Stabilization of AEVs With Intermittent Measurements and Actuator Failure
Jing Zhao, Yang Xiao, Zhongchao Liang, Pak Kin Wong, Zhengchao Xie, Xiaoguang Ma
Abstract
This article presents an adaptive event-triggered dynamic output feedback interval type-2 (IT-2) T-S fuzzy control method for autonomous electric vehicle systems. First, the IT-2 T-S fuzzy model is introduced to describe the nonlinear lateral dynamics of the vehicle systems. Second, a novel adaptive event-triggered strategy is designed to reduce the computational burden. Third, the phenomenon of intermittent measurements is depicted by the Bernoulli random distributed process, and the failure of the actuator is also included. According to the Lyapunov stability theory, an IT-2 T-S fuzzy dynamic output feedback controller (DOFC) is presented to ensure the random stability and performance of the vehicle systems. Finally, the effectiveness and real-time performance of the proposed control strategy are verified via numerical simulation and a hardware-in-the-loop (HIL) test platform.