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Analysis and Synthesis of Vehicle Platooning with Event-triggered Communication

Ruifang Feng  Zibao Lu  Ge Guo  
【摘要】:In this paper,a bidirectional symmetric communication scheme for homogeneous platoon system is proposed.This scheme is based on the event-trigger condition which depends on both the vehicle itself and its neighbors' state.The sampled-data must meet a certain condition before transmitting,so communication resources among vehicles can be saved.The main contribution of this paper is that the event-triggered communication scheme is fused into platoon model,after which a new control law combining event-triggered scheme is presented.Defining the state error between last successful transmission and current sampling instant,the closed-loop event-triggered control model of platoon system is obtained.The problem of platoon system stability is transformed into stability of the time-varying delay system by introducing manual delay.Following a Lyapunov-Krasovskii theory,a sufficient condition ensuring the platoon system asymptotically stable is obtained in terms of LMIs.According to the stable condition,the controller gain is obtained.Finally,the effectiveness of the proposed method is shown by simulation results.

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