Event-Triggered Integral Sliding Mode Control for Cooperative Cruise of Connected Vehicles

This paper investigates the cooperative adaptive cruise control (CACC) problem of connected vehicular systems subject to unknown disturbances. An event-triggered integral sliding mode control (ET-ISMC) law is proposed to reduce communication consumption and control frequency while improving control performance of the connected vehicular systems against disturbances. Constant time headway (CTH) policy is applied to guarantee the string stability of the closed-loop control system. The salient feature of the proposed algorithm is that no continuous communication is needed and finite-time convergence is achieved. It is also shown that no Zeno behavior exists with the proposed ET-ISMC algorithm. Simulation studies demonstrate the effectiveness of the proposed event-triggered integral sliding mode control solution.