Dynamic Event-Triggered Nonsingular Predefined-Time Tracking Control for Fully Heterogeneous Vehicle Platoon With Spacing Constraints
研究了完全异构车辆队列在间距约束下的自适应动态事件触发非奇异预定时间跟踪控制问题，通过引入分段连续函数避免奇异，并采用通用障碍李雅普诺夫函数防止碰撞和保持通信连通，同时利用动态事件触发机制节省通信资源。
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.