Original Article

Proc IMechE Part D:

J Automobile Engineering
1–14
Adaptive type-2 fuzzy sliding mode Ó IMechE 2021
Article reuse guidelines:
control of steer-by-wire systems with sagepub.com/journals-permissions
DOI: 10.1177/0954407021995390

event-triggered communication journals.sagepub.com/home/pid

Bingxin Ma and Yongfu Wang

Abstract
The steering-by-wire (SbW) system is one of the main subsystems of automatic vehicles, realizing the steering control of
autonomous vehicles. This paper proposes an event-triggered adaptive sliding mode control for the SbW system subject
to the uncertain nonlinearity, time-varying disturbance, and limited communication resources. Firstly, an event-triggered
nested adaptive sliding mode control is proposed for SbW systems. The uncertain nonlinearity is approximated by the
interval type-2 fuzzy logic system (IT2 FLS). The time-varying disturbance, modeling error, and event-triggering error can
be offset by robust terms of sliding mode control. The key advantage is that the high-frequency switching of sliding mode
control only appears on the time derivate of control input without increasing the input-output relative degree of closed-
loop SbW systems, such that the chattering phenomenon can be eliminated. Finally, theoretical analysis shows that the
practical finite-time stability of the closed-loop SbW system can be achieved, and communication resources in the
controller-to-actuator channels can be saved while avoiding the Zeno-behavior. Numerical simulations and experiments
are given to evaluate the effectiveness of the proposed method.

Keywords
Steer-by-wire (SbW) system, interval type-2 fuzzy logic system (IT2 FLS), chattering-free sliding mode control, event-
triggered communication, practical finite-time stability, experiment

Date received: 25 September 2020; accepted: 4 January 2021

Introduction
As one of the most advanced automobile technologies,
autonomous vehicles have attracted significant atten-
tion from academia and industry over the past few
decades. Generally, making the autonomous vehicle
track its reference path is one of the important topics in
this field. Man and colleagues1–3 show that the steering
control of a typical autonomous driving can be
achieved by using a steer-by-wire (SbW) system. In
such a steering system, an additional motor is applied
to provide the desired torque to adjust the steering
angle of front-wheels to follow the reference signal gen-
erated by its upper layer, that is, the path planning
module.
Some significant results have been reported in SbW
control systems. Representatively, Do et al.4 proposes a
robust sliding mode learning control for the SbW sys-
tem with the nonlinear uncertainty and external distur-
bance. To attenuate the negative effect of parametric
uncertainty and external disturbance on control perfor-
mance, Wang et al.5 proposes a bounds-based sliding
mode control for the SbW system; Man and col-
leagues1–3,6 present the adaptive sliding mode control
methods for SbW systems by using parameter adaption
technique. Considering the adverse effect of uncertain
nonlinearity and external disturbance,7 develops an
intelligent sliding mode control method for the uncer-
tain SbW system. Based on a simplified linear model of
SbW systems, Wu et al.8 proposes an active tracking
control based on the extended disturbance observer.
Moreover, Huang et al.9,10 develop the model predic-
tive control method for SbW system with actuator
fault. Although the researches above have obtained
fruitful achievements in SbW control systems, there are
still the following limitations: (1) to ensure the control
School of Mechanical Engineering and Automation, Northeastern
University, Shenyang, Liaoning, China
Corresponding author:
Yongfu Wang, School of Mechanical Engineering and Automation,
Northeastern University, Shenyang, Liaoning 110819, China.
Email: yfwang@mail.neu.edu.cn
2 Proc IMechE Part D: J Automobile Engineering 00(0)
performance, the control signal must be continuously
transmitted to the steering motor in existing researches,
such that communications resources in the controller-
to-actuator channel are massively wasted; (2) only
weak uncertainty (i.e. with parametric uncertainty and/
or uncertain nonlinearity and disturbance with a priori
bounds) of SbW systems is considered in the control
design.
Sliding mode control has been widely studied and
applied in nonlinear systems with uncertainties and dis-
turbances due to its strong robustness. In sliding mode
control, the well-known chattering caused by the high-
frequency switching function can significantly damage
the actuator and cause the instability of controlled
plants; see, for example, Levant,11 Edwards and
Shtessel,12 and the references therein. For this reason,
great efforts have been made on the chattering attenua-
tion of sliding mode control. Burton and Zinober13
shows that the discontinuous switching function of slid-
ing mode control can be replaced by continuous satura-
tion/tangent function. However, this method induces a
trade-off between the robustness and chattering
attenuation of sliding mode control. Huang et al.14
points out that the dynamic gain technique is used to
attenuate the chattering caused by the excessively large
gain of the switching function. However, the control
signal is still discontinuous due to the switching func-
tion still existing in robust terms. Much progress has
been achieved on higher-order sliding mode control to
eliminate the chattering; see for example, Levant,11
Edwards and Shtessel,12 Laghrouche et al.,15 Rosales
et al.,16 Bartoszewicz and Latosinskiv,17 Panathula
et al.18 The core technique is to implement the discon-
tinuous control input on the higher-order time deriva-
tives of sliding mode variable (i.e. the time derivate of
control input). Then the corresponding number of inte-
grators is added to obtain the continuous control sig-
nal. However, the input-output relative degree of
closed-loop systems usually needs to be increased in
this framework, such that the additional higher-order
time derivatives of sliding mode variable should be
required in the control design.
In recent years, significant contributions have been
made to the development of event-triggered control. In
event-triggered control systems, information transmit-
ting occurs only when necessary rather than uninter-
rupted transmission as in classical control systems,
such that the communication resources in networked
control systems can be largely saved; see Tabuada,19
Henningsson et al.,20 Liu and Jiang.21 Recently, a few
contributions have been made to event-triggered sliding
mode control within the control community.
Representatively in this context, Behera and col-
leagues22–24 propose the event-triggered sliding mode
control methods for nonlinear systems, and Kumari
et al.25 develops an event-triggered sliding mode track-
ing control for Euler-Lagrangian systems. The research
mentioned above on event-triggered sliding mode con-
trol still has limitations, that is, all the researches above
are developed based on the assumption that the accu-
rate dynamics model of controlled plant and the upper
bounds of external disturbances are a priori.
In intelligent control, type-1 fuzzy logic system (T1
FLS) has been widely used. Recently, there is a signifi-
cant increase in the researches on higher-order forms of
fuzzy logic system, in particular, the use of type-2 fuzzy
logic system (T2 FLS).26–30 Various research works can
be found in the literature related to the fundamental
differences between T1 FLS and T2 FLS.31,32 In T2
FLS, the uncertainty is expressed in a function, which is
a type-1 fuzzy number. Type-2 fuzzy set (T2 FS) is a
footprint of uncertainty (FOU) that is used to charac-
terize additional uncertainties beyond what type-1 fuzzy
set (T1 FS) can capture. The membership function
(MF) of T2 FS is 3-D and includes a FOU with the new
third dimension of T2 FS.26 A FOU provides additional
degrees of freedom that make it possible to provide the
capability to model high levels of uncertainties.33 With
these advantages, T2 FLS has been widely applied in
many practical applications. To name just a few., Melin
et al.34 proposes a shadowed type-2 fuzzy MF for the
benchmark control problems. In Chiu and Hung,35 an
adaptive interval type-2 fuzzy logic system (IT2 FLS) is
constructed and applied to single-wheel vehicle(SWV)
systems. D’Alterio et al.36 a constrained interval type-2
fuzzy logic system (IT2 FLS) have been proposed and
applied to two real cases.
Motivated by the preceding discussion, this paper
focuses on the event-triggered tracking control design
of uncertain SbW systems. The main contributions are
summarized in the following aspects:
 An event-triggered adaptive sliding mode control is
proposed for SbW systems. The uncertain nonli-
nearity, including friction torque and self-aligning
torque, is approximated by IT2 FLS. The time-
varying disturbance, modeling error of control gain,
and event-triggering error are offset by robust terms
of sliding mode control. Moreover, communication
resources in the controller-to-actuator channels can
be saved.
 In this adaptive higher-order sliding mode control
design, a prior bounds of the uncertainties and the
time derivatives of the reference signal are also no
longer required. Moreover, the discontinuous
switching function only appears in the time derivate
of control input without increasing the input-
output relative degree of closed-loop SbW systems,
such that the chattering phenomenon can be elimi-
nated. The additional higher-order time derivative
of the sliding mode variable is no longer required in
the control design.
 The experiment platform is built and used to verify
the rationality of the proposed method.
The rest of the paper is organized as follows. In
Section II, problem formulation and preliminaries are
given. The event-triggered tracking control is presented
Ma and Wang 3

(a) (b)

Figure 1. Schematic diagram of the SbW system: (a) schematic diagram of the SbW system, and (b) physical diagram of the SbW system.

in Section III. The numerical simulations and experi-

ments are given in Section IV. Section V is the conclud- Table 1. Variables and parameters of SbW systems.
ing remarks.
Symbols Model variable and parameters

Bm Viscous friction coefficient of motor

Problem formulation and preliminaries Jm Rotational inertia of steering motor
Jf Rotational inertia of front-wheels
Dynamics model and control objective Je Rotational inertia of equivalent system
Figure 1 shows a schematic diagram of SbW systems. um Steering motor steering angle
uf Front-wheels steering angle
The SbW system is mainly composed of the steering
tm Output torque of steering motor
motor and its driver, reducer, gearbox, etc. Compared m Steering motor angle/front-wheels
with the conventional vehicle steering system, SbW sys- angle
tems have two distinct characteristics: (1) the mechani- t 12 Load torque of steering motor
cal linkage between the steering wheel and front-wheels ts Input torque on the steering arm
te Self-aligning torque of the front-wheels
is no longer required; (2) an additional steering motor is tf Friction torque of front-wheels
applied to regulate the steering angle of front-wheels. td Motor torque pulsation disturbance
To describe the dynamics model clearly, Table 1 is given
to clarify each of the components in Figure 1.
According to the existing researches,5,37,38 the
dynamics model of steering motor can be established as which together with (1)–(2) gets

J m€
um + Bm u_ m + t 12 = t m + t d : ð1Þ J e €uf + m2 Bm u_ f + Hf (uf , u_ f ) = m(t m + t d ) ð5Þ

The rotation of front-wheels around their vertical axes with J e = J f + m2 J m . For brevity, the dynamics
can be modeled as model (5) can be rewritten as
8
J f€
uf + Hf (uf , u_ f ) = t s ð2Þ < x_ 1 = x2
x_ 2 = f(x) + gu + d(t) ð6Þ
:
where Hf (uf , u_ f ) denotes the uncertain nonlinearity y = x1
including the self-aligning torque t e and the fraction
torque tf , that is, where x = ½x1 , x2 T = ½uf , u_ f T 2 R2 , u is the control
input which is represented as t m in (5), f(x) =
Hf (uf , u_ f ) = t e + t f : ð3Þ (m2 Bm x2 + Hf (x))=J e : R2 ! R denotes the lumped
uncertain nonlinearity, g = m=J e is the control gain
Moreover, the transmission ratio between steering and d(t) = mt d =J e represents the time-varying
motor and front-wheels is disturbance.
Note that in practical application, it is difficult to
uf u_ f €
uf t 12 1 accurate model of SbW systems (6). Thus, considering
= = = = ð4Þ
um _um €
um t s m the modeling error of the control gain g, one can get
4 Proc IMechE Part D: J Automobile Engineering 00(0)
8
< x_ 1 = x2
x_ = f(x) + (gn + Dg)u + d(t) ð7Þ
: 2
y = x1
where gn is the known term of g and is positive, and Dg
is the uncertain term of g.
Over the past two decades, much research has been
done on the modeling of the nonlinearity f(x) including
the self-aligning torque t e and friction torque tf based
on several assumptions. Typically, Yamaguchi and
Murakami,39 Beal and Gerdes,40 develop the dynamic
models of self-aligning torque based on the simplified
vehicle model or linear bicycle model. In Sun et al.,1,6
the self-aligning torque is further simplified into a
hyperbolic tangent function. Moreover, the nonlinear
friction torque model including Coulomb and Static
friction,5,41,42 nonlinear LuGre dynamics friction
model43,44 and two-state with elastoplasticity friction
model45 are presented in the research of motor control
systems. Although the above modeling researches have
achieved considerable achievements, there are still inev-
itable modeling error and parametric uncertainty
adversely affecting the tracking performance in practi-
cal applications. Thus, in this paper, an adaptive IT2
FLS will be used to approximated the lumped nonli-
nearity f(x) including friction torque t f and self-aligning
torque t e of the SbW system (7).
Control Objective: The main purpose of this paper is
to study the event-triggered tracking control problem
of SbW systems, such that
 the practical finite-time stability of SbW systems
can be achieved, that is, the tracking error between
the steering angle front-wheels and its reference sig-
nal can converge to the small neighborhood of the
origin in finite time,
 the chattering phenomenon caused by the high-
frequency switching function of sliding mode con-
trol can be eliminated, and
 under event-triggered communication, the Zeno-
behavior, that is, infinite sampling times within
finite period, can be strictly avoided.
The following assumptions are made on the refer-
ence signal and external disturbance, respectively.
Assumption 1. The reference signal yd (t) is known,
¼ (IT2-A2-C0-TSK-FLS) is used, where the antecedent is
and there exist unknown positive constants yd and yd such
¼ IT2 FS and consequent is a crisp number.28 The com-
that jyd (t)j4yd and jy_ d (t)j4yd .
Assumption 2. There exists an unknown positive con-
stant d such that jd(t)j4d. 
Remark 1. The above assumptions are fairly general,
even compared with the existing researches on time-
triggered tracking control of SbW systems.1–3,5,7,8
Specifically, (1) for the assumption of the external dis-
turbance d(t), the same assumption as Assumption 2 can
be found in Man and colleagues.1–3,5,7 Moreover, the
assumption that both the external disturbance and its
time derivative are bounded is made in Huang et al.10;
(2) for the assumption of the reference signal yd (t), both
the time derivative of the reference signal y_ d (t) and its
second-order time derivative y€d (t) are required the con-
trol design, see Man and colleagues.1–3,5,7,8 To ensure
driving safety and vehicle comfort, the reference path is
usually smooth, and its change rate is usually bounded in
the practice application. Thereby, we can find that the
time derivative of the reference signal, that is, y_ d (t),
maybe unknown but can be considered bound in this
context.So compared with the related works, for exam-
ple, Man and colleagues,1–3,5,7,8 Assumptions 1–2 are
rather relaxed and easy to fulfill.
Type-2 fuzzy logic system
Definition 1. 26 The MF of T2 FS is shown in Figure
2(a) and the T2 FS A~ is defined as follows
A~ = f((xf , u), mA~ (xf , u))jxf 2 X, u 2 Jxf  ½0, 1g ð8Þ
where X is the universe for the primary variable xf , u is
denoted as the second variable, Jxf is the primary mem-
bership of each xf 2 X and mA~ (xf , u) is the secondary
MF. When mA~ (xf , u)[1 for each xf 2 X, the A~ is
denoted as interval type-2 fuzzy set (IT2 FS), which is
shown in Figure 2(b).
The FOU of A~ can be expressed as the union of all
the primary memberships, which can be expressed as
follows28,29
[
FOU(A) ~ = xf 3Jxf : ð9Þ
xf 2X
IT2 FLS have been applied in many areas, espe-
cially in the modeling and control fields. The design
procedures of IT2 FLS will be introduced in this sec-
tion. First, the j th IF-THEN rule of interval type-2
Takagi-Sugeno-Kang fuzzy logic system can be
expressed as
R(j) : IF x1 is A~j1 ,    , xn is A~jn ,
THEN y = cj0 +    + cjn xn , j = 1, . . . , M
where the xi 2 Xi is the i th state variable. The antece-
dent of rules A~jn is IT2 FS and the consequent of rules
is a linear combination of the inputs.26 Considering the
simplicity and efficiency of calculation, the zero-order
interval type-2 Takagi-Sugeno-Kang fuzzy logic system
putational procedures will be introduced in sequence:
(1) For simplicity, the singleton fuzzification is
applied. We use the product inference and
obtain the following firing interval A~j of each
rule:
8 j
>
>
> A~ (x)[½aj (x), aj (x)
>
< aj (x)[ Q m (x )
> m
A~ji i
A~ :
j
j=1 ð10Þ
>
>
>
> Qm
> j
: a (x)[ mA~j (xi )
i
j=1
Ma and Wang 5

(a) (b)

Figure 2. Various elements of (a) T2 FS and (b) IT2 FS.

where mA~j (xi ) represents is the lower membership func- Useful definitions and lemmas
i
tion (LMF) and mA~j (xi ) is the upper membership func- The following preliminaries are indispensable in the
i
tion (UMF). design of the sliding surface and event-triggered
control.
(2) Set the initial adaptive parameter fYj gM j = 1 as the
Lemma 1.46 For a continuous function f(x) : Rn ! R in a
crisp number fyj gM , that is, fyj M
g = fYj gMj = 1.
j=1 j=1
compact set O 2 Rn , the IT2-A2-C0-TSK-FLS can uni-
(3) Compute the following interval weighted average:
formly approximate it with a bounded approximate error
 . 0, there exists an IT2-A2-C0-TSK-FLS
 . For any v
v
" # (12) such that:
X
M
j X
M
j
YTSK (x) = 1= Yj A~ = A~ = 1=½yl (x), yr (x)
j=1 j=1 sup jf(x)  YT j(x)j4
v ð13Þ
x2O

The computations of yl (x) and yr (x) are performed where j(x) = (jl (x) + jr (x))=2.
by using KM algorithms29 that are applied to:
Definition 2.47 Consider the equilibrium point of the sys-
8
> P
M P
M tem x_ = f(x) as x = 0, it can be regarded as semi-global
>
> yl (x) = min Yj alj = alj
< j
8alj 2½aj (x), a (x) j = 1 j=1
finite stability if for all initial condition x(0) = q0 , there
ð11Þ exist a positive constant q1 and a settling time instant
>
> P
M P
M
>
: yr (x) = max Yj arj = arj T(q0 , q1 ) \ + ‘ such that
8arj 2½aj (x), aj (x) j = 1 j=1

k x(t) k 4q1 , 8t ø T(q0 , q1 ): ð14Þ

(4) Compute the defuzzified output as:
Lemma 2. Consider a class of nonlinear systems x_ = f(x).
Suppose that there exist a smooth positive-definite func-
1 tion V(x) and some scalars 11 . 0, 1 . 12 . 0, and C . 0
y = ½yl (x) + yr (x) = YT j(x) ð12Þ such that
2

where Y = ½Y1 , . . . , YM T is a adaptive parameter vec- _

V(x)4  11 V12 , 8V ø C ð15Þ
P
M P
M
tor, jl (x) = ½al1 = alj , . . . , alM = alj T is a regressive then nonlinear system x_ = f(x) is semi-global practical
j=1 j=1
finite-time stability, that is,
vector regarding the minimum of YTSK (x),
P
M P
M
V(x)4C, 8t ø T ð16Þ
jr (x) = ½ar1 = arj , . . . , arM = arj T is a regressive vec-
j=1 j=1
tor regarding the maximum of YTSK (x), and where T :¼ ½V112 (x(0))  C(112 ) =(11 (1  12 )).
j(x) = (jl (x) + jr (x))=2. The proof of Lemma 2 is given in Appendix A.
6 Proc IMechE Part D: J Automobile Engineering 00(0)

Main result
Construction of sliding surface
In this paper, the main control objective is to make the
tracking error between the steering angle of front-
wheels and its reference signal converge to the adjusta-
ble neighborhood of the origin in finite time. The slid-
ing mode variable is defined as

s = y  yd (t) ð17Þ

where yd (t) is the reference steering signal of the front-

wheel. To be specific, the sliding model variable s
denotes the tracking error between the steering angle of
the front-wheels and its reference signal.
Before the control designed, the sliding surface func-
tion should be given. In this study, we consider that the
time derivatives of the reference signal are unknown. So
the sliding surface function can be defined as

S = c1 s + c2 u(s) + x2 ð18Þ
Figure 3. The Schematic of the observer-based event-triggered
in which c1 and c2 are positive constants to be designed. SbW control, in which CAN denotes Controller-Area-Network.
Moreover, the function u(x) and its partial derivative
to x can be expressed as X
( Event-triggered control design
1
jxj2 sign(x), ifjxj ø [ As shown in Figure 3, the event-triggered control and
u(x) = 1 ð19Þ
jxj2 x3 F, ifjxj \ [ the event-triggering mechanism of the system (7) are
8 designed as
> 1 12
< h2 jxj 9, ifjxj ø [
>
11
i u(t) = y(tk ), 8t 2 ½tk , tk + 1  ð23Þ
3
u0 (x) = 8ijxj2 ([2  x2 )  3jxj 2 F2 ð20Þ
>
> tk + 1 = ft . tk : je(t)j ø djy(tk )j + mg, t1 = 0 ð24Þ
: 5
+ 72 jxj2 Fifjxj \ [
where e = y(t)  y(tk ), 0 \ d \ 1, and m are positive
where constants to be designed, and y(t) is designed as
F = 1=(i([2  x2 )4 + jxj3 ), i and [ are positive con-
stants to be designed. 1 1
^ T j(x)
y(t) = ½h1 Se + h2 jSe j2 sign(Se ) + Y
The following theorem offers a useful conclusion gn
between the sliding surface function S and sliding mode + (c1 + c2 u0 (s))x2 + kr(W ^ T H + C)
variable s of the closed-loop system (7).
ð25Þ
Theorem 1. Consider the designed sliding surface (18), where Se = S  R, C = gn djuj + gn m and the adaptive
if there exists a positive constant e and a time instant Te term r can be obtained from the following dynamics
such that jSj4e, 8t ø Te , the sliding mode variable s can
converge the adjustable neighborhood in finite time, that ^ T H + C)( kR + sign(Se )), R(0) = 0
R_ = (W ð26Þ
is,
where k the positive constant to be designed,
 
d + e
y H = ½1, juj, c1 + c2 ju0 (s)jT and W ^ is the estimation
jsj4ee :¼ max [, , 8t ø Te, e ð21Þ 
result of W=½d + v  T
 , jDgj, y . Note that the robust
c1
terms krC in (25) and Csign(Se ) in (26) are used to elimi-
with Te, e 425=4 W1=4 (Te )=c2 . nate the adverse effect of event-triggering error on tracking
If [ ø (yd + e)=c1 , the following result can also be performance. If there is no event triggering mechanism,
obtained these robust items can be removed. Moreover, the adap-
^ and W
tive laws of Y ^ are designed as
 

y +e
jsj ! min [, d , 8Te, e 4t ! + ‘: ð22Þ ^_ = g Se j(x)  s1 Y
^
c1 Y 1 ð27Þ
_^ = g jSjH  s W
W ^ ð28Þ
The proof of Theorem 1 is given in Appendix B. 2 2
Ma and Wang 7

3
where g i and si (i = 1, 2) are positive constants to be V_ = h1 S2e  h2 jSe j2  Se (c1 + c2 u0 (s))y_ d
designed.
~ T j(x)  W
+ Se (v + d(t) + Dgu) + Se Y ^ T HjSe j
Theorem 2. Consider the SbW system (7), the sliding  Se (gn 11 (t)du + gn 12 (t)m)  CjSe j
mode variable s defined in (17) can converge to the adjus- 1 ~ T ~_ 1 ~ T _~
table neighborhood of the origin in finite time under the + Y Y+ W W
g1 g2
event-triggered control (23), that is, 3 ¼
4  h1 S2e  h2 jSe j2 + jSe j(c1 + c2 ju0 (s)j) y
 1 !

yd 1 2C1 2 1 v + d + jDgjjuj) + Se Y
+ jSe j( ~ T j(x)
jsj4 max [, + + , 8t ø Tc :
c1 c1 z 1 c1 k
W ^ T HjSe j + 1 Y ~_ + 1 W
~ TY ~ TW_~
g1 g2
with Tc = 4(V1=4 (0)  (C1 =z1 )1=4 )=z2 and
3 Y~T _
  2
= h1 Se  h2 jSe j 2 ^  g Se j(x))
(Y 1
s1 s2 g1
z1 = min h1 , ,
4g 1 4g2 ~T _
W
 (W ^  g 2 jSe jH)
  g2
3 s 1 s2
z2 = 24 min h2 , , ð33Þ
4g1 4g 2
¼T T
s1 T s2 T s1 s2 where W=½d + v , jDgj, y and H=½1, juj, c1 +c2 ju0 (s)j .
C1 = Y Y+ W W+ + Substituting adaptive laws (27)–(28) into (33) yields
2g1 2g 2 4g1 4g 2
_  h1 S2  h2 jSe j2 + s1 Y ~ TY^ + s2 W ~ TW
3
yd =c1 + (2C1 =z1 )1=2 =c1 + 1=(c1 k), the following
If [ ø  V4 ^
e
g1 g2
results can also be obtained 3 s1 ~ T
= h1 S2e  h2 jSe j2 + Y (Y  Y)~
 12 ! g1

y 1 2C1 1 s2 ~ T
jsj ! min [, d + + , 8Tc 4 t ! +‘: + W (W  W) ~
c1 c1 z1 c1 k g2 ð34Þ
3 s1 ~ T ~ s2 ~ T ~
4  h1 S2e  h2 jSe j2  Y Y W W
Proof. Combined with (18), (26) and the definition of 2g1 2g 2
Se , that is, Se = S  R, the following dynamics can be s1 T s2 T
+ Y Y+ W W
obtained 2g1 2g2
3
4  z1 V  z2 V4 + C1
S_ e = (c1 +c2 u (s))(x2  y_ d )+f(x)+gn u + Dgu + d(t)
0

where z1 , z2 , and C1 are respectively defined as

^ T H + C)(kR  sign(Se )):
+ (W  
ð29Þ s1 s2
z1 = min h1 , ,
4g 1 4g2
 
From the event-triggering mechanism (24), we can find 3 s 1 s2
that there exist j1i (t)j \ 1 (i = 1, 2) such that z2 = 2 min h2 ,
4 ,
4g1 4g 2
y(t) = (1 + 11 (t)d)u + 12 (t)m. Hence, one can get s1 T s2 T s1 s2
C1 = Y Y+ W W+ +
2g1 2g 2 4g1 4g 2
u = y(t)  11 (t)du  12 (t)m ð30Þ
Combined with (34) and the conclusion of Lemma 2
This together with (25) and (29) yields yields
1
S_ e = h1 Se  h2 jSj2 sign(Se )  (c1 + c2 u0 (s))y_ d C1
V4 , 8t ø Tc ð35Þ
z1
~ T j(x) + v + (Dg  gn 11 (t)d)u  gn 12 (t)m
+Y
T with Tc = 4(V1=4 (0)  (C1 =z1 )1=4 )=z2 . This together with
^ H + C)sign(Se )
+ d(t)  (W (32) yields
ð31Þ  12
2C1
Consider the Lyaponov function as jSe j4 , 8t ø Tc : ð36Þ
z1
1 2 1 ~T~ 1 ~T ~ Then, combined with the definition of Se , that is,
V= Se + Y Y+ W W ð32Þ
2 2g1 2g 2 Se = S  R, (26) and (36), one can get
 12  12
with W~ =W  W ^ and Y~ = Y  Y.^ The time derivate 2C1 2C1 1
jSj 4 + j Rj 4 + , 8t ø Tc : ð37Þ
of V along with (31) can be obtained z1 z1 k
8 Proc IMechE Part D: J Automobile Engineering 00(0)
8
This together with the conclusion of Theorem 1 yields >
> 2 cos (6t) + 5rand(1), 8t 2 ½0, 20s)
>
> 2:5 cos (4t) + 5rand(1), 8t 2 ½20s, 40s)
 1 ! >
>
¼ >
> 3 cos (2t) + 5rand(1), 8t 2 ½40s, 60s
yd 1 2C1 2 1 >
>
jsj 4 max [, + + , 8t ø Tc : >
>
c1 c1 z 1 c1 k < 3:5 cos (2t) + 5rand(1), 8t 2 ½60s, 80s)
d(t) = 4 cos (4t) + 5rand(1), 8t 2 ½80s, 100s)
>
>
If [ ø yd =c1 + (2C1 =z1 )1=2 =c1 + 1=(c1 k), the following >
>
>
4:5 cos (2t) + 5rand(1), 8t 2 ½100s, 120s)
results can also be obtained >
> 5 cos (4t) + 5rand(1), 8t 2 ½120s, 140s)
>
>
>
> 5:5 cos (2t) + 5rand(1), 8t 2 ½140s, 160s)
¼  1 ! >
:
yd 1 2C1 2 1 6 cos (4t) + 5rand(1), 8t 2 ½160s, 180s
jsj ! min [, + + , 8Tc 4 t ! +‘:
c1 c1 z 1 c1 k
Besieds, in the simulation and experiment of this paper,
the reference signal of front-wheels is considered as
This ends the proof of Theorem 2. ð
yd (t) = ½0:2sign(ym  yd )dt ð43Þ
Feasibility analysis
with ym = 0, 8t 2 ½0, 10)s; ym = 0:2 cos (0:6t), 8t 2
In this subsection, the feasibility of the proposed event-
½10, 40)s; ym = 0:2 sin (0:8t), 8t 2 ½40, 60)s; ym = 0:4 cos
triggering mechanism (24) is given by excluding Zeno
(0:7t), 8t 2 ½60, 80)s; ym = 0:3 sin (0:6t), 8t 2 ½80, 100)s;
behavior. The proof of Zeno freeness will be accom-
ym = 0:2 cos (0:7t), 8t 2 ½100, 120)s; ym = 0:4 sin (0:8t),
plished by contradiction in this paper. Similar study
8t 2 ½120, 140)s; ym = 0:3 cos (0:7t), 8t 2 ½140, 170)s;
can be found in Zhang and Yang.48 Define as the inter-
ym = 0, 8t 2 ½170, 180)s.
event interval as
Dtk = tk + 1  tk : ð38Þ The parameter selection of the controller. For the designed
Note that the designed function y is continuous for sliding surface (18), the parameters are chosen as
t 2 ½tk , tk + 1 . Thus, if Dtk ! 0, one can get c1 = 30, c2 = 0:01, i = 106 , and # = 0:04. The para-
meters of the event-triggering mechanism (24) are
lim je(tk + Dtk )j = lim jy(tk + Dtk )  y(tk )j = 0: designed as d = 0:1 and m = 0:01. The parameters of
Dtk !0 Dtk !0
y(t) (25) are designed h1 = 40, h2 = 0:1, and gn = 2.
ð39Þ The parameters of dynamics (26) are designed as
However, it can be seen from the designed event- k = 10. The parameters of adaptive laws (27)–(28) are
triggering mechanism (24) that designed g 1 = 120, s1 = 0:5, g 2 = 0:1, s2 = 1,
^ = zeros(4, 1), and W
Y ^ = zeros(3, 1). For the IT2 FLS,
je(tk )j = lim je(tk + Dtk )j . m . 0: ð40Þ the membership functions are chosen
Dtk !0
 
The above analysis indicates that (39) contradict the  F i1 (xi ) = exp 20(xi  0:15j))2 , 8i = 1, 2, j = 61, 62
m
event-triggering condition (24), therefore, the hypoth-  
esis (38) is not true. This means that the Zeno-behavior mF i (xi ) = exp 50(xi  0:15j))2 , 8i = 1, 2, j = 61, 62
1
can be strictly avoided under the designed triggering
mechanism (24). Moreover, the four-rule base is given in Figure 4, where
the antecedents of fuzzy rules themselves have the
adaptability.
Numerical simulation and experiment
To verify that the event-triggered adaptive sliding
Numerical simulation mode control (ET-ASMC) designed in this paper can
save communication resources in the controller-to-
Simulation model of the SbW system. According to existing
actuator channel while ensuring satisfactory control
researches,1,41 the self-aligning torque t e and friction
accuracy, the ET-ASMC developed in this paper is
torque tf in (5) can be regarded as
selected for comparison with the adaptive sliding mode
t e = 950tanh(x1 ) ð41Þ control (ASMC) without event-triggered communica-
tion. Note that ASMC is the controller obtained by set-
t f = 0:25( tanh (100x2 )  tanh (x2 ))
ð42Þ ting the parameters d and m of ET-ASMC to zero.
+ 30 tanh (100x2 ) + 10x2 :

The other parameters of the system (5) are chosen as
J f = 3:8kg  m2 , J m = 0:0045kg  m2 , m = 18, and
Bm = 0:018  s=rad. The initial condition of state x is
chosen as x(0) = ½0:1, 0T , and the time-varying distur-
bance d(t) is assumed as
Simulation results and analysis. Figure 5 gives the control
performance of the different controllers in the simula-
tion. Specifically, Figure 5(a) gives the performance of
the steering angle of front-wheels tracking its reference
signal, Figure 5(b) shows the tracking errors between
Ma and Wang
Figure 4. An induced four-rule base.
(a)
(c)
Figure 5. Control performance in the simulation: (a) tracking performance, (b) tracking error, (c) control input, and (d) inter-event
interval.
the steering angle of front-wheels and its reference sig-
nal, Figure 5(c) give the control input of the SbW sys-
tem in the ET-ASMC and ASMC system, and Figure
5(d) shows the inter-event interval in the ET-ASMC
system. From Figure 5(a) and (b), one can find that
both control methods can make the SbW system obtain
satisfactory tracking performance. However, the com-
munication resources in the controller-to-actuator
channel can be saved in ET-AMSC system. From
Figure 5(c), one can find that the chattering-free input
can be guaranteed under the different control methods,
and the control input generated by the ET-ASMC only
be updated at the event-triggering instants. Figure 5(d)
shows the Zeno-behavior can be strictly avoided in the
ET-ASMC. Besides, Table 2 gives the detailed control
performance of the different control methods, that is,
the root means square error (RMSE), standard devia-
tion (SD), and integral absolute error (IAE).
9
(b)
(d)
Figure 6 gives the adaption results and number of
events in the simulation. Specifically, Figure 6(a) shows
that the adaptive term R can be adaptively updated in
the control application, which also shows that R41=k
is always hold. Figure 6(b) gives the adaption result of
dynamics gain W ^ T H and Figure 6(c) give the output of
IT2 FLS. Further, Figure 6(d) given the number of
event in the controller-to-actuator channel.
Experiment
The experiment platform of SbW systems is shown in
Figure 7. In this platform, the single-board computer
(dSPACE-ds1202) is used as the control unit of SbW
systems, and the servo motor driver (XiNJE DS2-20P7)
is used for driving the steering motor (XiNJE MS80ST-
M02430B-20P7) equipped with a reducer. The linear
sensor (KTR11-10) fixed on the steering arm measures
10 Proc IMechE Part D: J Automobile Engineering 00(0)

Table 2. Tracking performance in the simulation.

Index Method 0s–20s 20s–40s 40s–60s 60s–80s 80s–100s 100s–120s 120s–140s 140s–160s 160s–180s

RMSE ASMC 0.0080 0.0079 0.0097 0.0125 0.0100 0.0089 0.0133 0.0107 0.0086
ET-ASMC 0.0079 0.0079 0.0097 0.0124 0.0100 0.0089 0.0131 0.0106 0.0086
SD ASMC 0.0077 0.0079 0.0097 0.0125 0.0099 0.0088 0.0132 0.0107 0.0085
ET-ASMC 0.0077 0.0079 0.0097 0.0123 0.0099 0.0088 0.0130 0.0106 0.0085
IAE ASMC 0.1061 0.1366 0.1703 0.2098 0.1691 0.1579 0.2319 0.1807 0.1268
ET-ASMC 0.1058 0.1362 0.1700 0.2074 0.1688 0.1574 0.2293 0.1791 0.1261
qffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffi
Pn 2 qffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffi
Pn ffi Rt
RMSE = 1
n i = 1 si . SD =
1
n i = 1 (si   s)2, and IAE = 0 jsjdt with s = y  yd .

(a) (b)

(c) (d)

^ T H, (c) the output of the IT2 FLS, and (d)

Figure 6. The remaining results in the simulation: (a) dynamic term R, (b) dynamic gain W
number of events.

(a) (b)

Figure 7. The experiment platform of SbW systems: (a) schematic diagram of the experiment platform, and (b) physical diagram of
experiment platform.

the steering angle of the front-wheels. A computer is
applied to display the experimental results of the experi-
ment on-line and store the experimental data of the
experiment. The calculation and communication step
size of dsPACE-ds1201 is 0.001 s.
Parameter choice for the controller. For the designed slid-
ing surface (18), the parameters are chosen as c1 = 15,
c2 = 1, i = 106 , and [ = 0:1. The parameters of the
event-triggering mechanism (24) are designed as
d = 0:01 and m = 0:01. The parameters of y(t) (25) are
Ma and Wang 11

Table 3. Tracking performance in the experiment.

Index Method 0s–20s 20s–40s 40s–60s 60s–80s 80s–100s 100s–120s 120s–140s 140s–160s 160s–180s

RMSE ASMC 0.0114 0.0185 0.0176 0.0224 0.0230 0.0166 0.0244 0.0231 0.0176
ET-ASMC 0.0114 0.0185 0.0173 0.0220 0.0231 0.0166 0.0243 0.0229 0.0176
SD ASMC 0.0110 0.0184 0.0166 0.0219 0.0230 0.0163 0.0234 0.0227 0.0176
ET-ASMC 0.0109 0.0185 0.0164 0.0215 0.0230 0.0162 0.0232 0.0225 0.0176
IAE ASMC 0.1790 0.2970 0.2784 0.3396 0.3574 0.2600 0.3711 0.3581 0.2747
ET-ASMC 0.1779 0.2972 0.2737 0.3327 0.3573 0.2590 0.3674 0.3537 0.2738
qffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffi
Pn 2 qffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffi
Pn ffi Rt
RMSE = 1
n i = 1 si . SD =
1
n i = 1 (si   s)2, and IAE = 0 jsjdt with s = y  yd .

(a) (b)

(c) (d)

Figure 8. Control performance in the experiment: (a) tracking performance and (b) tracking error control input inter-event interval.

(a) (b)

(c) (d)

^ T H, (c) the output of the IT2 FLS, and

Figure 9. The remaining results in the experiment: (a) dynamic term r, (b) dynamic gain W
(d) number of events.

designed h1 = 40, h2 = 0:1, and gn = 2. The para-
meters of dynamics (26) are designed as k = 5 and
R(0) = 0. The parameters of adaptive laws (27)–(28) are
designed g 1 = 120, s1 = 0:5, g 2 = 0:1, s2 = 0:5
^ = zeros(4, 1), and W
Y ^ = zeros(3, 1). The chosen para-
meters of the IT2 FLS are the same as those in the
simulation.
Experimental results and analysis. Figure 8 gives the con-
trol performance of the designed controller in the
experiment. From Figure 8(a) and (b), we find that the
satisfied tracking accuracy can be achieved in finite
time. Figure 8(c) shows that the control input of the
SbW system is chattering-free, which also shows that
the continuous control input can be guaranteed in this
12
study, so that the chattering phenomenon can be com-
pletely eliminated. Moreover, from 8(c) we can also
find that the control signal is event-triggered, that is,
the control input is updated only at the event-triggering
instants, such that communication resources in the
controller-to-actuator channels can be saved. Figure
8(d) shows the event time-intervals under the designed
event-triggering mechanism (24), from which we can
find that the Zeno-behavor can be strictly avoided.
Table 3 gives the detailed control performance of the
two controllers.
Figure 9 gives the adaption results and number of
events in the Hil experiment. Figure 9(a) shows that the
adaptive term r can be adaptively updated in the con-
trol application, which also shows that R41=k is always
hold. Figure 9(b) gives the adaption result of dynamics
gain W^ T H and Figure 9(c) give the output of IT2 FLS.
Further, Figure 9(d) given the number of event in the
controller-to-actuator channel.
Conclusion
This paper addressed the tracking control problem for
the SbW system subject to the inaccurate dynamics
model, time-varying disturbance, and limited commu-
nication resources. An event-triggered adaptive sliding
mode control is proposed, in which an adaptive IT2
FLS approximates the uncertain nonlinearity of SbW
systems. The time-varying disturbance, modeling error,
and event-triggering error are offset by robust terms of
sliding mode control. Much importantly, the
chattering-free control input can be obtained, and com-
munication resources in the controller-to-actuator
channel can be saved. The practical finite-time stability
of the closed-loop system is proved by using the
Lyapunov stability approach. Finally, numerical simu-
lations and experiments are given to evaluate the effec-
tiveness of the proposed method.
Declaration of conflicting interests
The author(s) declared no potential conflicts of interest
with respect to the research, authorship, and/or publi-
cation of this article.
Funding
The author(s) disclosed receipt of the following finan-
cial support for the research, authorship, and/or publi-
cation of this article: This research is partially funded
by the National Natural Science Foundation of
China (Grant No. 51775103 and 61773068), the State
Key Lab of Digital Manufacturing Equipment &
Technology (Grant No.DMETKF2020015).
ORCID iD
Bingxin Ma https://orcid.org/0000-0003-2357-6451
Proc IMechE Part D: J Automobile Engineering 00(0)
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14 Proc IMechE Part D: J Automobile Engineering 00(0)

¼
!
s_ = c1 s  c2 f(s)  y_ d + n(t)e ð47Þ yd + e
jsj4 max [, , 8t ø Te, e ð49Þ
with jn(t)j41. Defined the positive-definite function as c1
W = s2 =2. Under the condition jsj ø [, the time derivate with Te, e 425=4 W1=4 (Te )=c2 :
of W along with (47) can be expressed as ¼
Under the condition t ø Te, e and [ ø (yd + e)=c1 ,
3
_ = c1 s2  c2 jsj2  sy_ d + n(t)es
W the time derivate of W along with (47) can be expressed
3
ð48Þ as
4  c1 s2  c2 jsj2 + ðy
d + eÞjsj:
_ = c1 s2  c2 su(s)  sy_ d + n(t)es
W
This together with the conclusion of Lemma 2, one can ð50Þ
4  c1 s2 + ðyd + eÞjsj
find the sliding mode variable jsj can converge to the
adjustable neighborhood of the origin in finite time, which means that jsj ! (yd + e)=c1 as Te, e 4t ! + ‘.
that is, This ends the proof of Theorem 1.