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<p>In this paper, the issue of limited communication resources in platooning control over vehicular ad-hoc networks (VANETs) is investigated by utilizing event-triggered communication scheduling and the constant spacing policy (CSP). A distributed control law is proposed based on extended state observers (ESO), where each vehicle’s controller relies solely on its own velocity, acceleration, inter-vehicle distance, and velocity error with respect to its preceding vehicle. A dynamic event-triggered communication mechanism is developed to minimize unnecessary data exchanges and enhance resource utilization efficiency, with a threshold parameter that adjusts dynamically. Sufficient conditions for system stability and performance, along with a co-design criterion for the control law and communication mechanism, are derived. Simulation results demonstrate the effectiveness of the proposed approach in achieving a balance between robust control performance and communication efficiency.</p>

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Event-triggered Distributed Control for Nonlinear Vehicle Platoons With ESO-based Uncertainty Estimation

  • 期刊论文

  • 发表日期：

    2025年5月14日

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  • Haisen Zhang,
  • Changshun Wang,
  • Huang Zhang

摘要

In this paper, the issue of limited communication resources in platooning control over vehicular ad-hoc networks (VANETs) is investigated by utilizing event-triggered communication scheduling and the constant spacing policy (CSP). A distributed control law is proposed based on extended state observers (ESO), where each vehicle’s controller relies solely on its own velocity, acceleration, inter-vehicle distance, and velocity error with respect to its preceding vehicle. A dynamic event-triggered communication mechanism is developed to minimize unnecessary data exchanges and enhance resource utilization efficiency, with a threshold parameter that adjusts dynamically. Sufficient conditions for system stability and performance, along with a co-design criterion for the control law and communication mechanism, are derived. Simulation results demonstrate the effectiveness of the proposed approach in achieving a balance between robust control performance and communication efficiency.