Event-Based Dissipative Path Following Control for Autonomous Ground Vehicles With External Disturbances and Actuator Faults

In this paper, a novel event-based dissipative fuzzy control method is proposed for path following systems of autonomous ground vehicles subject to external disturbances and actuator faults. As the varying longitudinal velocity causes highly nonlinearities in the path following systems, a Takagi-Sugeno fuzzy vehicle dynamics model is established for controller design. Moreover, the time delay, multiple actuator faults and external disturbances are fully considered in the modeling of vehicle dynamic systems. For the improvement of path following performance, a dissipative performance index is employed in the controller design to strengthen the reliability of the control method. To achieve a better economization of the limited resource, an enhanced adaptive event-triggered mechanism is introduced into the controller design. Based on an augmented Lyapunov-Krasovskii functional candidate, a less conservative theorem is obtained by employing some extended integral inequalities. The theorem guarantees that the resulted fuzzy path following control system meets the strict dissipative performance on the premise of asymptotic stability. Finally, experimental results validate the superiority of the proposed method.