Event-Triggered-Based Robust Control of Heterogeneous Connected Vehicles Platoon with Communication Delay and Random Packet Loss

With the development of vehicle autonomous driving technology and wireless network communication technology, the mix platoon of connected autonomous vehicles (CAVs) and connected human-driven vehicles (CHVs) is becoming inevitable. The abnormal V2V communication and uncertain vehicle dynamics may affect the CAV control performance. Considering time-varying communication delays and random packet loss, an event-trigger-based robust control strategy is proposed based on the stability theory of stochastic time-delay systems. The Bernoulli packet loss model is constructed to solve the random packet loss problem. The robust controller with the event-triggered mechanism designed using the Lyapunov functional stability theory of stochastic systems ensures the stability of the mix platoon with vehicle heterogeneity and the stability of CAV. The simulation comparison has verified that the proposed control strategy can better suppress the fluctuation of the preceding vehicle and more quickly reach the desired value when both time delay and packet loss are present.