Distributed Robust Control for Vehicle Platoon Under Event-Triggered Communication Mechanism

The time-varying parametric uncertainties in vehicle dynamics, along with the excessive occupancy of communication resources, have not been addressed in current vehicle platoon control methods. In this paper, a distributed event-triggered robust control strategy based on the uncertain vehicle dynamics is proposed. The triggering condition creatively integrates the state deviation and the uncertainty boundary, effectively attenuating the negative effect of uncertainties and reducing the data transmission numbers. A series of equality constraints that satisfy the control objectives are designed, and the platoon control problem is transformed into a constraint-following task. An explicit distributed robust control law is designed to render both uniform boundedness (UB) and uniform ultimate boundedness (UUB) performance of the closed-loop system, indirectly guaranteeing the platoon stability. Numerical simulation results demonstrate that the proposed control strategy can reduce the transmission numbers while ensuring great tracking performance.