This paper proposes an event-triggered adaptive sliding mode control for the steer-by-wire (SbW) system subject to unavailable state, time-varying disturbance, and limited communication resources. Firstly, an adaptive state observer is proposed to estimate the unmeasured state of the SbW system. The uncertain nonlinearity and the time-varying can be estimated by the adaptive fuzzy logic system and the disturbance observer, respectively. Then, considering the limited communication resources, an even-triggered adaptive sliding mode control is proposed for the SbW system. The key advantage is that the proposed control scheme can offset the observation error and the event-triggering error. Much importantly, the high-frequency switching function is nested in the control input without increasing the input–output relative degree of the controlled system, such that the chattering-free control input can be obtained. Finally, theoretical analysis shows that the practical finite-time stability of the closed-loop SbW system can be saved, and communication resources in the controller-to-actuator channel can be saved while avoiding the Zeno-behavior. Numerical simulations and experiments are given to evaluate the effectiveness of the proposed scheme.

针对不可用状态，时变扰动和通信资源有限的情况，提出了一种线控转向（SbW）系统的事件触发自适应滑模控制。首先，提出了一种自适应状态观测器来估计SbW系统的未测状态。不确定的非线性和时变可以分别通过自适应模糊逻辑系统和干扰观测器来估计。然后，考虑到有限的通信资源，针对SbW系统提出了偶数触发的自适应滑模控制。关键优势在于，所提出的控制方案可以抵消观察误差和事件触发误差。更重要的是，高频开关功能嵌套在控制输入中，而不会增加受控系统的输入输出相对程度，从而可以获得无抖动的控制输入。最后，理论分析表明，可以节省闭环SbW系统的实际有限时间稳定性，并且可以在避免Zeno行为的情况下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案的有效性。