Event-Triggered Robust Control of Vehicle Platoons Based on a Unified Spacing Policy

In our prior research (Yang and Murase, IEEE ITS, 2025), we developed a robust platoon control approach that adopts a unified spacing policy adaptable to heterogeneous vehicles. In the present study, we introduce an event-triggered implementation of the previously developed control framework. An event-triggering strategy is formulated based on the variation of system signals, and the stability of the resulting control system is examined using a Lyapunov-based analysis. In addition, the proposed event-triggered scheme is shown to be free from Zeno behavior. Finally, simulation experiments are conducted to validate the theoretical findings.