火力与指挥控制2026，Vol.51Issue(7)：26-32,7.DOI:10.3969/j.issn.1002-0640.2026.07.005
通信受限的无人车辆鲁棒事件触发控制
Robust Event-triggering Control for Unmanned Vehicles with Limited Communication
摘要
Abstract
To satisfy the autonomous navigation requirements of unmanned vehicles,this study proposes a robust path-tracking control method based on an adaptive event-triggered mechanism.First,an interval type-2 fuzzy model is employed to accurately approximate the lateral dynamics of vehicles,effectively handling the strong nonlinearities and uncertainties induced by complex road environments.Second,an adaptive event-triggered mechanism is introduced to optimize the utilization efficiency of communication resources by dynamically adjusting triggering thresholds,significantly reducing the transmission frequency of control commands.A controller is designed based on Lyapunov stability theory and the robust H∞ control strategy.Finally,high-fidelity driving simulations verify the superiority of the proposed algorithm.关键词
鲁棒H∞/模糊控制/路径跟踪/通信受限/事件触发Key words
robust H∞/fuzzy control/path following/limited communication/event-triggered control分类
自科综合引用本文复制引用
于星辉,李雪峰,丁嘉伟..通信受限的无人车辆鲁棒事件触发控制[J].火力与指挥控制,2026,51(7):26-32,7.基金项目
河南省教育厅高等教育教改项目(2024SJGLX0584) （2024SJGLX0584）
教育部产学合作协同育人基金资助项目(241101020182429) （241101020182429）
