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Event-triggered ISMC for String Stability of Connected Vehicles with Communication Constraints

This paper investigates the co-design problem of the integrated event triggering (IET) scheme and integral sliding mode control (ISMC) for the nonlinear connected vehicles (CV) with communication constraints. The main goal is to improve the tracking performance and increase the bandwidth utilization of vehicular ad-hoc networks (VANET) with various external disturbances. Firstly, a nonlinear CV dynamic model is established by considering the disturbance from the preceding vehicle, internal and external resistance, and uncertainty of the engine time constant. Secondly, an IET transmission mechanism based on both absolute and relative restriction conditions of sampled-data error is proposed to reduce unnecessary data transmissions among vehicles. Thirdly, co-design IET mechanisms and ISMC controller based on estimated of H∞ observer is designed, which can achieve string stability. Finally, extensive simulations are conducted to verify the effectiveness of the proposed method.