Event-triggered cooperative control of networked vehicle platoons under intermittent communication

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Abstract

This work addresses the consensus tracking problem for connected vehicle systems under time-varying communication topologies and persistent intermittent communication. A coordinated event-triggered protocol relying only on local and neighboring vehicle information is developed to enhance resilience against channel blockages while reducing bandwidth usage and energy consumption. The communication digraph switches within a finite set of directed graphs, each containing a spanning tree rooted at the lead vehicle. By constructing a piecewise Lyapunov functional and applying the average dwell-time technique, sufficient conditions in terms of linear matrix inequalities are derived to guarantee exponential stability and leader-following consensus in the tracking error dynamics. The proposed scheme is proven to exclude Zeno behavior, ensuring a positive lower bound on inter event intervals. Simulation results confirm the effectiveness and superiority of the strategy under simultaneous switching topologies and intermittent communication.

Keywords

connected vehicle systems / switching topologies / intermittent communication / event-triggered control / leader-follower consensus

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