Event-Triggered Tracking Formation of Networked Nonlinear Intelligent Transportation Systems Surrounded by Random Disturbances

This article proposes an event-triggered (ET) communication mechanism for cooperative control in a group of networked intelligent transportation systems (ITSs). The ITS is described by a class of nonlinear uncertain multi-agent system which is disturbed by a wide stationary process representing the external noise. The control input for each subsystem in the ITS faces the dead-zone constraint. We guarantee the tracking formation control for the ITS under the given circumstances. Additionally, the closed-loop networked system signals are proved to be noise-to-state practically stable in probability (NSpS-P). The transient/steady-state behavior of the tracking errors are managed by the prescribed performance control (PPC) approach. The Zeno phenomenon is then mathematically excluded for the data transmission among the agents. The simulation experiments finally quantify the effectiveness of our proposed approach in terms of reducing the burden of data transmission and providing an appropriate performance with respect to the control objectives.