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

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.