Switched Event-Triggered Sliding Mode Control for Connected and Autonomous Vehicles Against Communication Imperfections

This paper investigates an observer-based integral sliding mode control nonlinear connected and autonomous vehicles (CAVs) system with uncertainties, disturbances, and communication imperfections under the condition of the switched event-triggered (S-ET) scheme. The aim is to guarantee the asymptotic stability and string stability of the CAVs system and improve the tracking performance. Firstly, a nonlinear CAVs dynamic model is established with the uncertainty of the engine time constant and disturbance. Secondly, based on the new model, a framework of switched event-triggered sliding mode controller is presented, which can robustly stabilizing the CAVs with a given level of disturbance attenuation. The obtained controller is complemented by additional conditions established for guaranteeing string stability and avoiding Zeno phenomenon, yielding a valuable CAVs control algorithm. Finally, extensive simulations are conducted to verify the theoretical analysis and prove the effectiveness and superiority of the proposed method.