Event-Triggered Multi-Lane Fusion Control for 2-D Vehicle Platoon Systems with Distance Constraints

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Event-Triggered Multi-Lane Fusion Control for 2-D Vehicle Platoon Systems with Distance Constraints

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Zhou, Zepeng / Zhu, Fanglai / Xu, Dezhi / Chen, Boli / Guo, Shenghui / Dai, Yuchen

This paper investigates the event-triggered fixedtime multi-lane fusion control for vehicle platoon systems with distance keeping constraints where the vehicles are spread in multiple lanes. To realize the fusion of vehicles in different lanes, the vehicle platoon systems are firstly constructed with respect to a two-dimensional (2-D) plane. In case of the collision and loss of effective communication, the distance constraints for each vehicle are guaranteed by a barrier function-based control strategy. In contrast to the existing results regarding the command filter techniques, the proposed distance keeping controller can constrain the distance tracking error directly and the error generated by the command filter is coped with by adaptive fuzzy control technique. Moreover, to offset the impacts of the unknown system dynamics and the external disturbances, an unknown input reconstruction method with asymptotic convergence is developed by utilizing the interval observer technique. Finally, two relative threshold triggering mechanisms are utilized in the proposed fixed-time multi-lane fusion controller design so as to reduce the communication burden. The corresponding simulation results also verify the effectiveness of the proposed strategy.