Abstract
The intelligent vehicle is a typical networked control system. This chapter focuses on the tracking control of intelligent vehicles with network-induced interference. An adaptive sliding mode tracking control method is presented (Li et al. in Information Sciences 503:493–507, 2019). First, an adaptive sliding mode surface based on the error of the tracking output is proposed. The estimated value of the external disturbance is used as an adaptive factor to mitigate the external disturbance. Second, an adaptive sliding mode controller is designed, and the convergence of the sliding mode dynamics is demonstrated. Third, we consider the network-induced disturbance affecting the sensor output. A novel disturbance observer is proposed to compensate for the network-induced disturbance. Finally, the error of the tracking output is discussed, and the effectiveness of the designed observer and proposed adaptive sliding mode tracking control approach is demonstrated using a simulation example.
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Li, M., Chen, Y., Ali, I. (2022). Adaptive Sliding-Mode Tracking Control for Networked Systems with Network-Induced Disturbance. In: Tracking Control of Networked Systems via Sliding-Mode. Springer, Singapore. https://doi.org/10.1007/978-981-16-6514-1_2
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DOI: https://doi.org/10.1007/978-981-16-6514-1_2
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