Event-triggered Control of Heterogeneous Vehicular Platoons under Directional Topology*

This paper studies an adaptive consensus problem of heterogeneous vehicular platoon under directional communication topology, where all nonidentical member vehicles are subject to bounded actuator uncertainties. An event-triggered control (ETC) scheme in a fully distributed manner is established, comprising a distributed directional controller and a robust tracking controller. The first one is for tackling the platoon heterogeneity and directionality and the second one is for tackling actuator uncertainties. A compensator is assigned to each member vehicle and the asymptotic state consensus of all identical compensators is reached via an event-triggered protocol. Ultimately, the movement states and the compensator states are synchronized by local robust control laws, thus achieving the bounded platoon consensus. Finally, a numerical example is given to verify the effectiveness of the proposed strategy.