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Page 270 Sun et al. Intell Robot 2023;3(3):257-73 I http://dx.doi.org/10.20517/ir.2023.17

stability of the NCS is guaranteed;
• The event thresholds realize the two-way adjustment (decrement and increment) according to the state
measurement automatically.

Under the proposed SS-ETC, the networked path following model, which included both communication and
control parts, has been accurately described. Then, the stability analysis and controller design have been de-
rived in detail for the purpose of ISS. At last, some simulation experiments have been conducted to confirm
the effectiveness of the proposed co-design method for SS-ETC. Different from the previous works on variable-
threshold ETC, the designed SS-ETC adjusted event threshold solely based on the physical state perception. In
fact, the proposed SS-ETC is a class of state-oriented communication schemes in which the physical security
of path following control can be well guaranteed.

However, the proposed SS-ETC scheme failed to discuss the following aspects.

• It is obvious that the parameter will make any difference on the event-triggered condition. How to design
such a parameter is not included in this paper;
• So far, the proposed SS-ETC scheme only depended on state measurement. Some other more reasonable
indexes should be further considered;
• In fact, if the vehicle maneuvers very fast, the nonlinear dynamics of the vehicle is not negligible, and a
linear controller is not effective. Therefore, the controller design by considering nonlinear dynamics of the
vehicles should be included;
• In addition, due to vulnerability of communication networks, a security SS-ETC scheme, which includes
both physical state and communication security perception, is still a challenging problem [35,36] .

The above issues may be left for our future work.

DECLARATIONS
Authors’ contributions
Conception and design of the study: Sun HT
Administrative support: Huang J
Data analysis and interpretation: Chen Z, Wang Z

Availability of data and materials
Not applicable.

Financial support and sponsorship
This work was supported in part by the National Natural Science Foundation of China under Grants 62103229,
62263019, the Natural Science Foundation of Shandong Province under Grant ZR2021QF026, the China Post-
doctoral Science Foundation under Grant 2021M692024, the National Key R & D Program of China under
Grant 2021YFE0193900.

Conflicts of interest
All authors declared that there are no conflicts of interest.

Ethical approval and consent to participate
Not applicable.

Consent for publication
Not applicable.