Network-based reference model tracking for vehicle turning with event-triggered transmission and interval communication delays

Abstract

This paper deals with the network-based modelling and reference model tracking control of four-wheel-independent-drive electric vehicles for turning purpose. First, a reference model is designed by adjusting its input to characterise the expected neutral turning of the vehicle. By considering event-triggered transmission and interval communication delays, the network-based tracking control system attaining vehicle turning is modelled as an interval input delay system, where the input delay is bounded by the bounds of communication delays and the sampling period. Second, a new delay-dependent bounded real lemma with less conservatism is derived by proposing a matrix-based binary quadratic convex method, constructing a discontinuous augmented Lyapunov–Krasovskii functional tailored based on second-order Bessel–Legendre inequality, and exploiting the relation among the upper bounds of input delay and interval communication delays, and the sampling period. Third, the network-based $H_{\mathrm{\infty }}$ tracking controller design result is further established by linear matrix inequalities. Finally, an example is provided to confirm the superiority of the analysis results and the effectiveness of control design.

Keywords:

• four-wheel-independent-drive electric vehicle
• networked control system
• $H_{\mathrm{\infty }}$ tracking control
• augmented Lyapunov–Krasovskii functional
• matrix-based binary quadratic convex method

Disclosure statement

No potential conflict of interest was reported by the author(s).

Additional information

Funding

This work is partly supported by National Natural Science Foundation of China under 61773238, the Fundamental Research Funds of Shandong University, and the Program for the Outstanding Innovative Teams of Higher Learning Institutions of Shanxi.

Notes on contributors

Zifan Gao

Zifan Gao received the B.Sc. degree in information and computing science and M.Sc. degree in pattern recognition and intelligent systems from Shanxi University, Taiyuan, China, in 2017 and 2020, respectively. He is currently a PhD candidate in the School of Mathematics, Shandong University, Jinan, China. His current research interests include time delay systems, networked control systems, and vehicle control systems.

Dawei Zhang

Dawei Zhang received the B.Sc. degree in information and computing science and M.Sc. degree in pattern recognition and intelligent systems from Shanxi University, Taiyuan, China, in 2005 and 2008, respectively, and the Ph.D. degree in computer science from Central Queensland University, Rockhampton, QLD, Australia, in 2012. He joined the School of Mathematical Sciences, Shanxi University in 2013 and was promoted to an Associate Professor in 2015. From Feb. 2017 to Feb. 2018, he was a Post-Doctoral Research Fellow with the School of Software and Electrical Engineering, Swinburne University of Technology, Melbourne, VIC, Australia. In 2018, he was appointed a Scholar for the Program of the Outstanding Innovative Teams of Higher Learning Institutions of Shanxi, P. R. China. In 2019, he joined Shandong University, Jinan, China, where he is currently a Research Fellow (Associate Professor Level) with the School of Mathematics. His current research interests include networked control systems, network-based secure estimation and control, and fuzzy systems.

Shuqian Zhu

Shuqian Zhu received the B.Sc. degree in information and computing science and Ph.D. degree in operations research and cybernetics from Shandong University, Jinan, China, in 2000 and 2005, respectively. In July 2005, she joined the School of Mathematics, Shandong University, China, where she is currently a Professor. From February 2013 to February 2014, she was a Visiting Associate Professor at Central Queensland University, Australia. She was a Visiting Professor at Swinburne University of Technology in 2018. Her research interests include positive systems, networked control systems, time-delay systems and singular systems.

Baolin Zhang

Baolin Zhang received the B.Sc. and M.Sc. degrees in applied mathematics from Ningxia University, Yinchuan, China, in 1995 and 1998, respectively, and the Ph.D. degree in physical oceanography from the Ocean University of China, Qingdao, China, in 2006. He joined Ludong University, Yantai, China, in 1998, where he was a Lecturer with the School of Mathematics and Statistics Sciences. He joined China Jiliang University, Hangzhou, China, in 2006, where he is currently a Professor with the College of Science. He was the Director with the Department of Mathematics from 2010 to 2012, he was an Assistant Dean with the College of Science from 2013 to 2016, and he was a Dean with the College of Science from 2017 to 2020. He was a Visiting Associate Professor with the Centre for Intelligent and Networked Systems, Central Queensland University, North Rockhampton, Australia, from May 2009 to Apr. 2010. He was a Visiting Professor with the Griffith School of Engineering, Griffith University, Gold Coast, Australia, from Dec. 2015 to Jun. 2016. He was appointed the New-Century 151 Talent Program of Zhejiang Province. His current research interests include network-based control systems, time-delay systems, and active control for the ocean engineering.