Fully Distributed Event-Triggered Vehicular Platooning With Actuator Uncertainties

The goal of this paper is to design a fully distributed event-triggered control policy with intermittent communication to reach leader-follower consensus of vehicular platoons with nonzero leader's input and actuator uncertainties. The time-dependent event-triggered condition in a fully distributed manner is proposed for checking the necessary data transmission time. Meanwhile, a distributed control law based on estimated state is developed when the event-triggered condition is violated, which ensures the platoon can reach bounded consensus with an exponential convergence rate. Compared with existing related results, the fully distributed event-triggered mechanism is independent of any global information or leader's information. Moreover, Zeno behavior can be strictly ruled out for each vehicle. Finally, the effectiveness of the proposed event-triggered control policy is validated by numerical examples.