Adaptive Memory Event-Triggered Output Feedback Finite-Time Lane-Keeping Control for Autonomous Heavy Truck With Roll Prevention

This article addresses the issue of adaptive memory event-triggered output feedback finite-time lane-keeping control for autonomous heavy trucks with roll prevention subject to nonlinear corning stiffness, time-varying driving speed, and trace curvature. A novel adaptive memory event-triggered scheme is developed to slow down control command update under unexpected system dynamic fluctuation excited by abrupt trace disturbances by releasing less triggered times, as well as speed up update under large amplitude response but gentle variation around critical crest/trough situation by releasing more triggering times. To overcome the shortcomings of slower convergence and longer response time resulting from designed scheme for control command update, finite-time lane-keeping control with prescribed H∞ performance is employed to achieve expected convergence properties. Additionally, better tracking control quality requirements for designed control strategy are specifically achieved with considered roll prevention control for the sprung mass and front/rear solid axle by eliminating negative effects on yaw motion and decreasing dynamic load transfer rate. Furthermore, sufficient conditions are established to guarantee finite-time boundedness with prescribed H∞ performance and gain matrices for controller and trigger are codesigned and obtained by solving certain matrix inequalities. Benefiting from regulated control command update and roll prevention under an adaptive memory event-triggered scheme, the obtained results illustrating reasonable triggered times, less tracking error, smoother centroid trajectory, smaller roll angle, and decreased dynamic load transfer rate demonstrate the effectiveness of the proposed control strategy.