Dynamic Event-Triggered Nonsingular Predefined-Time Tracking Control for Fully Heterogeneous Vehicle Platoon With...

Area of Science:

• Control Systems Engineering
• Robotics and Autonomous Systems
• Automotive Engineering

Background:

• Vehicle platooning faces challenges in maintaining safety and communication efficiency, especially with heterogeneous systems.
• Existing predefined-time control methods can suffer from singularity issues, limiting their practical application.
• Event-triggered control strategies are needed to optimize communication resource usage.

Purpose of the Study:

• To develop an adaptive dynamic event-triggered nonsingular predefined-time tracking control for third-order heterogeneous vehicle platoons.
• To address singularity problems in traditional predefined-time control.
• To ensure collision avoidance and maintain communication connectivity while optimizing resource usage.

Main Methods:

• Construction of an improved nonsingular predefined-time adaptive tracking controller using a piecewise continuous function in the backstepping procedure.
• Adoption of a universal barrier Lyapunov function (UBLF) to enforce distance constraints.
• Implementation of a dynamic event-triggered control scheme with a dynamic auxiliary variable to save communication resources.

Main Results:

• The proposed controller successfully avoids singularity issues inherent in conventional predefined-time control.
• Collision avoidance and communication connectivity are guaranteed through UBLF-based distance restrictions.
• The dynamic event-triggered scheme significantly reduces communication overhead.
• Predefined-time stability of the entire vehicle platoon system is rigorously proven using the predefined-time stability criterion.

Conclusions:

• The developed adaptive dynamic event-triggered nonsingular predefined-time control strategy is effective for heterogeneous vehicle platoons.
• The method ensures system safety, communication efficiency, and stability within a predefined time.
• Simulation results validate the practical applicability and performance of the proposed control algorithm.