Consensus-Based Vehicle Platoon Control Under Periodic Event-Triggered Strategy
Yi Su, Xinsong Yang, Peng Shi, Guanghui Wen, Zhilu Xu
Abstract
This article proposes an asymptotic consensus control algorithm for a vehicle platoon with time-varying communication delays and external disturbances. To avoid continuously monitoring the state of the vehicles and utilize network communication resources efficiently, an event-triggered control (ETC) with three free parameters based on periodic sampling is designed. Consider a switched topology, a novel method is constructed to make the discretized Lyapunov–Krasovskii functional (LKF) monotonically decreasing at switching instants, which allows for better analysis of nonweighted <inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"> <tex-math notation="LaTeX">$\mathcal {L}_{2}$ </tex-math></inline-formula> -gain. The main results give the sufficient conditions for global asymptotic consensus by linear matrix inequalities (LMIs). Finally, a numerical simulation is presented to show the validity of the new analysis technique.