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.

线控转向（SbW）系统是自动车辆的主要子系统之一，实现了自动驾驶汽车的转向控制。针对不确定的非线性，时变扰动和有限的通信资源，提出了一种SbW系统的事件触发自适应滑模控制方法。首先，提出了一种事件触发的嵌套自适应滑模控制方法。不确定的非线性由区间2型模糊逻辑系统（IT2 FLS）近似。时变扰动，建模误差和事件触发误差可以通过鲁棒的滑模控制来补偿。关键优势在于，滑模控制的高频切换仅出现在控制输入的时间导数上，而不会增加闭环SbW系统的输入输出相对度，这样就可以消除震颤现象。最后，理论分析表明，该闭环SbW系统具有一定的实用时限稳定性，并且在避免Zeno行为的情况下，可以节省控制器到执行器通道中的通信资源。数值仿真和实验结果表明了该方法的有效性。