Bandwidth-Aware Dynamic Event-Triggered Distributed Predictive Platooning Control of Heterogeneous Connected Vehicles

This paper presents a dynamic event-triggered distributed model predictive control (DMPC) strategy for heterogeneous vehicle platoons subject to disturbances and input constraints. A dynamic event-triggered mechanism considering bandwidth occupancy status integrated with a dual-mode control method is utilized to determine not only whether the optimal control problem should be solved or not but also the data transmission actions at each sampling time instant for each vehicle. In such a context, a dynamic event-triggered dual-mode DMPC algorithm is proposed to ensure the desired platooning control performance as well as the effective reduction of computational and communication loads. Building upon that, formal feasibility and stability analyses are correspondingly conducted, which provide theoretical validation for the proposed dynamic event-triggered DMPC strategy. Finally, a specific simulation example is given to demonstrate the efficacy of the proposed algorithm in terms of platooning control performance and communication resource efficiency.