Full event‐triggering adaptive control considering time‐varying constraints for nonholonomic tractor‐trailer system

Abstract

SummaryIn this paper, for the nonholonomic tractor‐trailer system with slipping and skidding, a full state‐triggering implementation of a tracking controller is proposed. Trailers are an important part, and their knowledge is crucial for the safety and control of the vehicle. Without considering system performance constraints, trailers may deviate from their expected position, leading to collisions. Therefore, there is still great interest in addressing the constraint control issues that arise in modern technologies related to network communication. Based on the backstepping method, bounded measurement errors are introduced into the continuous sampling controller considering intra‐vehicle communications. Then two neural networks are used to model unknown dynamics of the system with event sampling inputs, thereby decoupling the design of the control inputs. Finally, we prove the input‐to‐state‐like stability of a continuously sampled controller, and the given event execution control law can ensure the boundedness of measurement errors. Simulation results show the effectiveness of the proposed algorithm.