  In this brief, an improved event-triggered update mechanism (ETM) for the
linear quadratic regulator is proposed to solve the lateral motion control
problem of intelligent vehicle under bounded disturbances. Based on a novel
event function using a clock-like variable to determine the triggering time, we
further introduce two new design parameters to improve control performance.
Distinct from existing event-based control mechanisms, the inter-event times
(IETs) derived from the above control framework are designable, meaning that
the proposed ETM can be deployed on practical vehicle more easily and
effectively. In addition, the improved IETs-designable ETM features a global
robust event-separation property that is extremely required for practical
lateral motion control of vehicle subject to diverse disturbances. Theoretical
analysis proves the feasibility and stability of the proposed control strategy
for trajectory tracking under bounded disturbances. Finally, simulation results
verify the theoretical results and show the advantages of the proposed control
strategy.
