A Novel Adaptive Threshold Adjustment Method for Event-triggered Path Following Control of Unmanned Ground Vehicles

In this paper, a novel adaptive threshold adjustment method for event-triggered control is proposed to solve the path tracking problem of unmanned ground vehicle (UGV). First, the corresponding dynamic model of path tracking control is established according to the studied unmanned autonomous vehicle. In addition, a new adaptive threshold adjustment event-triggered communication scheme based on the real-time state detection of the path tracking control system is designed. The event-triggered threshold dynamically and adaptively adjusts according to the state of the control system. Second, an event-triggered H∞ controller is designed, which based on state error adjustment and combined with the time-delay system modeling method, Lyapunov stability theory. Finally, the effectiveness of the proposed adaptive ETC is verified by simulation experiments.