Event-Triggered Prespecified Performance Control for Steer-by-Wire Systems With Input Nonlinearity

This paper addresses the prescribed tracking performance control problem for uncertain steer-by-wire (SbW) systems with input nonlinearity (including dead-zone and actuator fault) and the limitation of controller-area-network (CAN) bandwidth. An adaptive interval type-2 fuzzy logic system (IT2 FLS) is introduced to approximate the lumped model uncertainty, and a switching event-triggering mechanism (ETM) is applied to save the communication resources. Combining the backstepping approach and barrier Lyapunov function techniques, a prescribed tracking performance control method is proposed for SbW systems, where the initial values of state errors are no longer required in the controller design. Theoretical analysis shows that the tracking error can converge to the predefined residual set within preset time instead of the time tending infinite, while the closed-loop system is semi-globally stable. Simulations and vehicle experiments are presented to verify the effectiveness of the proposed control method.