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Abstract
The preview path tracking problem of autonomous electric vehicles with event-triggered transmission and bounded communication delays is addressed using polytope modelling and asynchronous gain-scheduled control methods. By finding a polytope with as few vertices as possible to wrap the curve composed of all time-varying parameters, a new polytope modelling method is proposed to describe the vehicle lateral dynamics, which can not only reduce the modelling complexity greatly but also keep the modelling accuracy. Based on the polytope system model, a network-based gain-scheduled controller that operates asynchronously with the polytope system is constructed, where the scheduling parameters are driven by transmitted longitudinal velocity. By computing the deviation bounds of scheduling parameters and utilising the deviation-bound-dependent method, an asynchronous gain-scheduled control design method is presented. The feasibility and advantages of the proposed methods are shown by numerical verification.
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Zifan Gao
Zifan Gao received the B.Sc. degree in information and computing science and the 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.
Tao Wu
Tao Wu received the B.Sc. degree in mathematics and applied mathematics from Zhejiang Ocean University, Zhoushan, China, in 2020. He is currently studying for his master's degree in the School of Mathematics, Shandong University, Jinan, China. His current research interests include time delay systems, networked control systems, and Takagi-Sugeno Fuzzy Systems.
Dawei Zhang
Dawei Zhang received B.S. in Information and Computing Science and M.Sc. degrees 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. Choina. 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 network-based secure estimation and control, and vehicle control.
Shuqian Zhu
Shuqian Zhu received the B.Sc. and Ph.D. degrees in Mathematics from Shandong University, Jinan, China, in 2000 and 2005, respectively. In July 2005, she joined the School of Mathematics and System Sciences, 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, Markov jump systems and singular systems.