Observer-based integrated event-triggered sliding mode control for Internet of vehicles with communication constraints

This paper investigates the co-design problem of the integrated event-triggering (IET) scheme and integral sliding mode control (ISMC) for the nonlinear Internet of vehicles (IoVs) with communication constraints. The main goal is to improve the tracking performance and increase the bandwidth utilization of vehicular ad hoc networks (VANETs) with various external disturbances. First, a nonlinear IoV dynamic model is established by considering the disturbance from the preceding vehicle, internal and external resistance, and uncertainty of the engine time constant. Second, an IET transmission mechanism based on both absolute and relative restriction conditions of sampled-data error is proposed to reduce unnecessary data transmissions among vehicles. Third, co-design IET mechanisms and ISMC controller based on estimated H-infinity observer are designed, which can obtain the disturbance attenuation and asymptotic stability, and the result is complemented by additional conditions established for guaranteeing string stability. Finally, extensive simulations are conducted to verify the theoretical analysis and prove the effectiveness and superiority of the proposed method.