Event-Triggered Extended State Observer Based Distributed Control of Nonlinear Vehicle Platoons

TL;DR

This paper develops an event-triggered extended state observer-based distributed control method for nonlinear vehicle platoons, ensuring stability, avoiding Zeno behavior, and demonstrating effectiveness through simulations.

Contribution

It introduces a novel event-triggered ESO and a distributed control law for nonlinear vehicle platoons with uncertainties, enhancing stability and sensor-based implementation.

Findings

Control law ensures string and closed-loop stability.

Observation errors of ESOs are bounded.

Zeno behavior is avoided with the proposed mechanism.

Abstract

We study the platoon control of vehicles with third-order nonlinear dynamics under the constant spacing policy. We consider a vehicle model with parameter uncertainties and external disturbances and propose a distributed control law based on an event-triggered extended state observer (ESO). First, an event-triggered ESO is designed to estimate the unmodeled dynamics in the vehicle model. Then based on the estimate of the unmodeled dynamics, a distributed control law is designed by using a modified dynamic surface control method. The control law of each follower vehicle only uses the information obtained by on-board sensors, including its own velocity, acceleration, the velocity of the preceding vehicle and the inter-vehicle distance. Finally, we give the range of the control parameters to ensure the stability of the vehicle platoon system. It is shown that the control parameters can be properly designed to make the observation errors of the ESOs bounded and ensure the string stability and closed-loop stability. We prove that the Zeno behavior is avoided under the designed event-triggered mechanism. The joint simulations of CarSim and MATLAB are given to demonstrate the effectiveness of the proposed control law.