Event-triggered control of vehicular platoon system with time-varying delay and sensor faults

Abstract

This paper addresses the problem of control of a vehicular platoon system with limited on-board resources in the presence of time-varying delay and sensor faults. A platoon system with predecessor-leader following topology in which each vehicle suffers from probabilistic sensor faults and time-varying delay is considered. To reduce the utilization of communication and energy resources in the system, a novel event-triggering communication strategy at the sensor-controller channel is proposed. Based on the proposed triggering strategy, a criteria for co-designing of the triggering parameter and the control law ensuring internal stability of the platoon system is developed. Furthermore, additional conditions are established for the obtained controller to guarantee string stability of the platoon system. The efficacy of the proposed methodology is demonstrated through numerical simulations.

Improving the Performance of Cooperative Platooning With Restricted Message Trigger Thresholds

“…The second group investigates the impact of the network instabilities in event-triggered platooning [33]. In [34], an event-triggered message control is defined for a Co-VP application with timevarying delay and sensor faults. The event-triggering mechanism is a function of the present value of the sensor faults (and not the parameters defined in the ITS-G5 standard).…”

Event-triggered control of vehicle platoon under deception attacks

“…26 Although several results have been proposed in the literature in the field of ETC of networked control systems, 27 only a few of them address the problem of efficient usage of network resources for a vehicle platoon system. 28–33 An event-triggering strategy to ensure the string stability of a platoon system is employed by Dolk et al 28 An ETC for platoon with each vehicle having nonlinear and heterogeneous dynamics is developed by Linsenmayer et al 29 An event-triggering strategy for platoon system under leader and predecessor following topologies is presented by Liu et al 30 An ETC for platoon of vehicles under unreliable communication link is presented by Li et al 31 A novel ETC is designed for string stability of a vehicle platoon system under the effect of communication delay and sensor faults by Bansal and Mukhija. 32 An event-triggered mechanism for vehicle platoon control under random communication noises is proposed by Li et al 33 However, the risk of cyber-attacks is not considered in the above proposed techniques.…”

“…[28][29][30][31][32][33] An event-triggering strategy to ensure the string stability of a platoon system is employed by Dolk et al 28 An ETC for platoon with each vehicle having nonlinear and heterogeneous dynamics is developed by Linsenmayer et al 29 An event-triggering strategy for platoon system under leader and predecessor following topologies is presented by Liu et al 30 An ETC for platoon of vehicles under unreliable communication link is presented by Li et al 31 A novel ETC is designed for string stability of a vehicle platoon system under the effect of communication delay and sensor faults by Bansal and Mukhija. 32 An event-triggered mechanism for vehicle platoon control under random communication noises is proposed by Li et al 33 However, the risk of cyber-attacks is not considered in the above proposed techniques. The problem of efficient utilization of energy and network resources in a vehicle platoon system suffering from intrusion becomes more challenging and needs to be investigated.…”