Network-based reference model tracking for vehicle turning with event-triggered transmission and interval communication delays

This paper deals with the network-based modelling and reference model tracking control of four-wheel-independent-drive electric vehicles for turning purpose. First, a reference model is designed by adjusting its input to characterise the expected neutral turning of the vehicle. By considering event-triggered transmission and interval communication delays, the network-based tracking control system attaining vehicle turning is modelled as an interval input delay system, where the input delay is bounded by the bounds of communication delays and the sampling period. Second, a new delay-dependent bounded real lemma with less conservatism is derived by proposing a matrix-based binary quadratic convex method, constructing a discontinuous augmented Lyapunov–Krasovskii functional tailored based on second-order Bessel–Legendre inequality, and exploiting the relation among the upper bounds of input delay and interval communication delays, and the sampling period. Third, the network-based $H_\infty $H∞ tracking controller design result is further established by linear matrix inequalities. Finally, an example is provided to confirm the superiority of the analysis results and the effectiveness of control design.