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| In this paper, an event-triggered control problem in array-like autonomous platoon control system with network-induced delay is investigated. Firstly, a novel six-order linear kinematic model of each autonomous vehicle and a novel state error model of array-like autonomous platoon control system are constructed. Secondly, the corresponding delay system is modelled. Then, by employing the constructed model and Lyapunov functional approach, a co-design method of both the H_infinity controller and the parameters of event-triggered condition for each following vehicle is proposed. The feedback gain matrix and the event-triggering matrix corresponding to each autonomous vehicle can be obtained by employing LMI technique. Finally, a simulation example is presented to demonstrate the effectiveness of the proposed co-design method. |
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| Keywords:event-triggered control; autonomous platoon control; linear matrix inequality; H_infinity control; network-induced delays |
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