Event-triggered platoon control of vehicles with time-varying delay and probabilistic faults

This paper investigates event-triggered platoon control of vehicles with probabilistic faults (i.e., sensor and actuator) and time-varying communication delay. A novel platoon model is established, in which the effect of time-varying delay, event-triggered scheme and probabilistic faults are involved. Based on the new model, criteria for the exponential stability and criteria for co-designing both the output feedback and the trigger parameters are derived by using Lyapunov functional. The obtained controller is complemented by additional conditions established for guaranteeing string stability and zero steady state velocity errors, yielding a useful string stable platoon control method. The effectiveness and advantage of the presented methodology are demonstrated by both numerical simulations and experiments with laboratory scale Arduino cars.