Stability analysis and resilient communication in connected vehicle platooning: Addressing input communication delays and disruptions through Lyapunov analysis and event-triggered control

This paper addresses the impact of disruptions in event-triggered control and input communication delays in connected vehicle systems (CVSs). Focusing on vehicle platooning, we develop a controller that compensates for communication delays and external disturbances by modulating position, velocity, and acceleration gains across leader and follower vehicles. Tracking error systems are defined to model the fleet dynamics, accounting for controller disruptions and external factors affecting stability. A quadratic Lyapunov function analysis is used to ensure stability, while an event-triggered communication criterion is implemented to avoid Zeno behavior, triggering updates only when a threshold is surpassed. Through event-triggered mechanisms and stability analysis, this approach provides a robust communication framework for vehicle platooning. Numerical simulations evaluate the system’s resilience to external disturbances, demonstrating stable and reliable vehicle coordination.