Event-Triggered Fuzzy Yaw Control of Six-Wheel Skid-Steer Vehicles

Six-wheel skid-steer vehicles are widely used in the real world because of their special steering structure and load-carrying capacity. In this article, we aim to study the event-triggered fuzzy yaw control of six-wheel skid-steer vehicles. The nonlinear lateral dynamics of a six-wheel skid-steer vehicle is modeled using the Takagi-Sugeno (T-S) fuzzy system with irregular fuzzy rules, in which more membership function information can be captured. Considering the high-frequency transmission mode used in vehicle motion systems due to high-precision control requirements, an event-triggered scheme with a dynamic threshold is proposed to ensure control accuracy while reducing the data transmission. Then, a flexible yaw control scheme is constructed in which two adjustable weighting factors are introduced to improve the flexibility of the fuzzy yaw controller. By combining the flexible yaw control scheme and dynamic event-triggered scheme, we design a set of event-triggered fuzzy yaw controllers that satisfy the finite-time stability of lateral motion tracking for six-wheel skid-steer vehicles. The advantages and effectiveness of the proposed method are verified by conducting the TruckSim-MATLAB joint simulation.