Event-Driven Connected Vehicular Platoon Control With Mixed Time-Varying Delay

In this research, connected vehicular platoon control is investigated with mixed time-varying delay. An event-driven information interaction method for connected vehicular platoon system is built, which considered the combined effect of communication-actuator time-varying delay and event-driven mechanism. The new standard for asymptotically stable and criterion for the controller gains and the trigger parameters are obtained based on Lyapunov method. The derived controller is offset by new conditions, which are used to ensure the vehicular platoon system that can achieve string stability. Finally, the effectiveness and advantage of the proposed algorithm are demonstrated by numerical simulations and experiments results with electric experimental cars.