Observer-based distributed dynamic event-triggered control for vehicle formation under switching communication topology and external disturbances

As intelligent transportation systems advance rapidly, it is crucial to ensure both safety and efficiency in vehicle platooning under complex environmental conditions. This study addresses the vehicle safety control challenges posed by external disturbances and switching communication topologies. An observer-based distributed control strategy with dynamic event-triggered mechanisms is proposed. To enhance platoon safety and efficiency, a velocity-dependent constant time headway strategy is developed, establishing speed-adaptive safety distances with enhanced precision. Regarding data transmission, a dynamic event-triggered strategy based on free variables is designed. This strategy achieves effective network resource conservation while maintaining operational flexibility. Subsequently, two Lyapunov functions are constructed to verify the system’s stability, yielding sufficient conditions for the global uniform ultimate boundedness of the system. Finally, simulations confirm the controller’s reliability, demonstrating its effectiveness in maintaining safe distances among vehicles within the platoon.