Consensus-based Vehicle Platoon Control with Communication Noises

Considering to improve the communication efficiency, an event-triggered vehicle platoon control under random communication noises is studied. First, for vehicle platoons with linear third-order dynamics, a time-varying consensus gain c(t) is introduced to reduce the effects of the communication noises. Second, with the introduction of the algebraic graph theory and matrix analysis, the conditions for internal stability under random additive communication noises are derived. Third, by utilizing the Lyapunov theory and Itô stochastic differential equations, the consensus of vehicle platoon under random additive communication noises is proved. Last, to reduce the frequent communication between vehicles, an event-triggered mechanism is introduced, and the condition for the triggering parameter is derived. The effectiveness of the proposed method is verified with some numerical simulation.