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Sun et al. Intell Robot 2023;3(3):257-73 Intelligence & Robotics
DOI: 10.20517/ir.2023.17

Research Article Open Access

State-sensitive event-triggered path following control
of autonomous ground vehicles

1
1
2
Hong-Tao Sun , Jinming Huang , Zhi Chen , Zhiwen Wang 3
1 College of Engineering, Qufu Normal University, Qufu 273165, Shandong, China.
2 Department of Automation, School of Mechatronic Engineering and Automation, Shanghai University, Shanghai 200444, China.
3 College of Electrical and Information Engineering, Lanzhou University of Technology, Lanzhou 730050, Gansu, China.

Correspondence to: Prof. Jinming Huang, College of Engineering, Qufu Normal University, No. 80, Yantai Road, Rizhao 276826,
Shandong, China. E-mail: huangjm@qfnu.edu.cn

How to cite this article: Sun HT, Huang J, Chen Z, Wang Z. State-sensitive event-triggered path following control of autonomous
ground vehicles. Intell Robot 2023;3(3):257-73. http://dx.doi.org/10.20517/ir.2023.17
Received: 10 Mar 2023 First Decision: 29 May 2023 Revised: 2 Jun 2023 Accepted: 12 Jun 2023 Published: 20 Jul 2023

Academic Editor: Simon X. Yang, Hongtian Chen Copy Editor: Yanbin Bai Production Editor: Yanbin Bai

Abstract
This paper investigates an improved event-triggered control based on the perception of state measurement for path
following control of autonomous ground vehicles. Firstly, in order to regulate the event-triggered thresholds dynami-
cally, a barrier-like function is first used to develop such a novel state-sensitive event-triggered communication (SS-
ETC) scheme. Different from the existing variable-threshold ETC schemes, the proposed SS-ETC incorporates the
state measurements directly in the event threshold adjustment, eliminating the need for additional terms or dynam-
ics introduced in previous works. Secondly, the networked path following control modeling issues, which include
both physical dynamics and the SS-ETC scheme, are characterized by the input delay approach. The controller de-
sign method is well derived, ensuring the preservation of input-to-state stability of the path following control system.
The main advantage of this paper lies in the proposed SS-ETC, which shows a better trade-off between control and
communication. Finally, several simulation experiments are conducted to verify the effectiveness of the proposed
event-triggered control scheme.

Keywords: Networked control systems, event-triggered scheme, autonomous ground vehicles, path following con-
trol

© The Author(s) 2023. Open Access This article is licensed under a Creative Commons Attribution 4.0
International License (https://creativecommons.org/licenses/by/4.0/), which permits unrestricted use, shar-
ing, adaptation, distribution and reproduction in any medium or format, for any purpose, even commercially, as long as you
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