Event-Triggered Cruise Control of Connected Automated Vehicle Platoon Subject to Input Limitations

This article proposes event-triggered cruise control in platoons of connected automated vehicles (CAVs) with heterogeneous input limitations. A distributed control protocol is developed to ensure the stability and performance of the platoon, explicitly addressing varying levels of input saturation among vehicles. To further enhance communication efficiency, a centralized event-triggered mechanism is introduced, activating control updates only when necessary, effectively preventing Zeno behaviors through a predefined threshold. The proposed approach not only achieves global asymptotic stability but also significantly reduces communication demands, making it suitable for real-world driving conditions characterized by input constraints. Simulation results validate the effectiveness and robustness of the proposed control strategy, demonstrating its potential for practical implementation in intelligent transportation systems.