Event-Triggered Output Feedback Type-2 Fuzzy Control for Uncertain Steer-by-Wire Systems With Prespecified Tracking Performance

This paper addresses the event-triggered output feedback control problem of steer-by-wire (SbW) systems subject to uncertain nonlinearity and time-varying disturbance. First, to solve the uncertainty and remove unnecessary sensors, an interval 2 fuzzy logic system (IT2 FLS) and an adaptive state observer are proposed to estimate the uncertain nonlinearity and unavailable states of SbW systems. Then, an event-triggered output feedback control method is constructed for SbW systems to achieve the prespecified tracking performance. Much significantly, the jumping phenomenon of the control input caused by event-triggering communication can be eliminated by the proposed event-triggered control systems. Furthermore, theoretical analysis shows that the tracking error can converge to the preset neighborhood of origin within finite time, while the Zeno behavior can be avoided. Finally, simulations and vehicle experiments are presented to verify the validity of the proposed methods.