To resolve the vehicle platoon's random change of communication topologies,information delay,and outside disturbance,a robust event-triggered control protocol based on the discrete event-triggered communication scheme is proposed.The Markov chain combined with directed graph approach is used to describe the platoon's random switching data transmission network in actual traffic.The effects of delays and air resistance of the platooning system is investigated under equivalent information delays and outside interferences.To guarantee the inner-vehicle stability of the platooning system,the distributed controller with variable gains based on event-triggered scheme is put forward according to H∞ control and the stability theory of Markovian jumping system.In addition,the definition of L2 stochastic string stability is also given out to reduce perturbations when they spread throughout the platoon.Compared to traditional platoon robust control,it is shown that the proposed controller can obtain smaller adjacent spacing and speed tracking errors,and evenly realize the vehicle platoon's stability with a lower computing burden.
关键词
多车队列/通信拓扑切换/外部干扰/队列稳定性/事件驱动控制
Key words
vehicle platoon/random switching topologies/external disturbance/string stability/event-triggered control
维普
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