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Even-triggered cooperative adaptive cruise control of vehicles with lumped and time-varying delay

This paper investigates event-triggered cooperative adaptive cruise control (CACC) of vehicles with lumped and time-varying delay. A novel event-triggered CACC model is established, in which the effect of time-varying communication delay, actuator delay and event-triggered scheme is involved. Based on the new model, criteria for the asymptotic stability and criteria for co-designing both the output feedback controller and the trigger parameters are derived by using Lyapunov functional. The obtained controller is complemented by additional conditions established for guaranteeing string stability. The effectiveness and advantage of the presented methodology are demonstrated by numerical simulations.