Strengthening stability with centralized event-triggered control system with the disturbances and artificial time delay in wireless connected vehicle platooning (CVSs)

Abstract

This paper addresses the difficulties with connected vehicle systems (CVSs), particularly with vehicle platooning, are examined in this paper. For leader and follower-connected vehicles, the control protocol (which includes artificial delays, disturbances and proportional gains) is implemented. With tracking error systems, system dynamics are modelled while taking outside influences into consideration. Using creative thinking, a centralized event-triggered control system is implemented to maximize fleet wide communication updates. System stability is guaranteed by this centralized method in combination with quadratic form Lyapunov stability analysis. The risk of zeno behaviour is reduced by an event-triggered communication condition that is activated when a threshold is exceeded. The effectiveness of the centralized event-triggered system in improving stability and resilience in connected vehicle platooning scenarios is evaluated numerically through simulations.

Keywords

• Consensus
• disturbance in centralized event-triggered protocol
• framework for a multi-agent system (Leader–Follower)
• Lyapunov Krasovskii function