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<p>We propose a robust self-triggered switching control scheme for four-wheel-steering autonomous ground vehicles (FAGVs) to enhance tracking precision in the face of significant parameter variations. First, using the polytopic mechanism, the nonlinear dynamics of an FAGV are formulated as a switched linear parameter-varying system to accommodate parametric perturbations. With suitable dwell time, a novel self-triggered switching law is designed using energy density in terms of the tracking accuracy and system robustness; this satisfies the required control criteria while also preventing the Zeno phenomenon caused by traditional high-frequency switching. Through the application of multiple parameter-correlated Lyapunov functions, the resultant closed-loop system is ensured to be asymptotically stable with suitable auto-tuned gains. Finally, the efficacy and superiority of the proposed method are verified through experiments with an FAGV system.</p>

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Robust self-triggered switching control of autonomous ground vehicles with varying linear parameters

  • 期刊论文

  • 发表日期：

    2026年4月25日

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  • Yuanlong Xie,
  • Shuting Wang,
  • Liquan Jiang,
  • Hu Li,
  • Hao Wu,
  • Sheng-quan Xie

摘要

We propose a robust self-triggered switching control scheme for four-wheel-steering autonomous ground vehicles (FAGVs) to enhance tracking precision in the face of significant parameter variations. First, using the polytopic mechanism, the nonlinear dynamics of an FAGV are formulated as a switched linear parameter-varying system to accommodate parametric perturbations. With suitable dwell time, a novel self-triggered switching law is designed using energy density in terms of the tracking accuracy and system robustness; this satisfies the required control criteria while also preventing the Zeno phenomenon caused by traditional high-frequency switching. Through the application of multiple parameter-correlated Lyapunov functions, the resultant closed-loop system is ensured to be asymptotically stable with suitable auto-tuned gains. Finally, the efficacy and superiority of the proposed method are verified through experiments with an FAGV system.