Abstract: We consider the platooning problem for a group of autonomous mobile vehicles. In order to reduce the energy consumption of communications among vehicles in the moving process, we present an event-triggered consensus control approach. The safe distance is added to avoid collision between the adjacent vehicles. We firstly design event-triggered controllers for all the vehicles in the platoon. Besides, an event-triggering mechanism is analyzed and we prove that the Zeno behavior is avoided in the event-triggered process. Finally, numerical simulations are provided to verify the effectiveness of the proposed approach.

Key words: Event-triggered control, platooning, mobile vehicles, Zeno behaviors

摘要： 考虑多个自主移动的智能车编队问题,为了减少车辆行驶过程中多辆车频繁通信带来的能量消耗，提出了一种基于事件触发机制的智能车编队控制算法。该算法通过在相邻车辆之间加入安全距离，避免了相邻车辆碰撞的发生。首先对车辆设计事件触发控制器，然后通过一致性分析得到事件触发机制，并对算法的Zeno行为进行分析，对算法的有效性给出了证明。最后，通过系统仿真验证了控制器的正确性和算法的有效性。

关键词: 事件触发控制, 编队, 移动智能车, Zeno行为