Consensus-Based Vehicle Platoon Control Under Periodic Event-Triggered Strategy

This article proposes an asymptotic consensus control algorithm for a vehicle platoon with time-varying communication delays and external disturbances. To avoid continuously monitoring the state of the vehicles and utilize network communication resources efficiently, an event-triggered control (ETC) with three free parameters based on periodic sampling is designed. Consider a switched topology, a novel method is constructed to make the discretized Lyapunov-Krasovskii functional (LKF) monotonically decreasing at switching instants, which allows for better analysis of nonweighted L-2-gain. The main results give the sufficient conditions for global asymptotic consensus by lin-ear matrix inequalities (LMIs). Finally, a numerical simulation is presented to show the validity of the new analysis technique.