Event-triggered V2V communication-based cooperative adaptive tracking control for nonlinear vehicle platoon systems with unknown lag time

This paper addresses cooperative adaptive tracking control for nonlinear vehicle platoon systems under limited communication resources. The main objective is to alleviate the road safety crisis resulting from communication network congestion. To optimize the use of limited communication channels, a novel vehicle-to-vehicle (V2V) event-triggered communication mechanism is proposed. Unlike existing approaches, the method incorporates the location information of neighbor vehicles and their own into the triggered mechanism, eliminating the need for continuous monitoring and significantly reducing unnecessary communication resources. Furthermore, the current vehicle platoon systems solely account for the known lag time. This paper designs, for the first time, an adaptive compensation function to mitigate the adverse effects of unknown lag time on the vehicle platoon systems and enhance their stability. Simulation results validate the superior performance of the designed control method, particularly in scenarios with limited communication resources and unknown lag time.