Dynamic Event-Triggered Nonsingular Predefined-Time Tracking Control for Fully Heterogeneous Vehicle Platoon With Spacing Constraints

In this article, the problem of adaptive dynamic event-triggered nonsingular predefined-time (PT) tracking control for a third-order fully heterogeneous vehicle platoon system is investigated. First, an improved nonsingular PT adaptive tracking controller is constructed by introducing a piecewise continuous function within the control signal in each step of the backstepping procedure, which avoids the singularity problem of the traditional PT control signals in the existing literature and guarantees the existence of the values for all the terms within the control signals in the real number field. Second, a class of universal barrier Lyapunov function (UBLF) is adopted to set restrictions on distance, which ensures that collisions are avoided and communication connectivity is maintained. In addition, based on a dynamic auxiliary variable, the communication resources are saved with the use of the dynamic event-triggered control scheme. Finally, through the PT stability criterion, it is proven that the PT stability of the whole vehicle platoon is ensured, and the effectiveness of the control algorithm is verified by the simulation results.