Event triggering in vehicular networked systems with limited bandwidth and deep fading

Vehicular networked systems consist of numerous vehicles exchanging information over a wireless communication channel. These wireless communication channels are often subject to limited bandwidth and deep fading. Prior work shows that event triggering can generate, on average, larger transmission time interval than periodic scheme by triggering the transmission as a function of the sampled state. However, it is unclear whether this state-dependent transmission approach still outperforms the periodic scheme in vehicular networked system where the communication channel often fails to reliably deliver the sampled state due to deep fades. By adopting a bursty fading channel model, this paper presents a new event triggering scheme under which the vehicular system assures a larger transmission time interval than that of periodic scheme while preserving almost sure asymptotic stability in the absence of disturbance, and practical stability in probability with bounded disturbance. In the disturbance free case, the triggering law guarantees increasing transmission time interval as system approaches its equilibrium. In the bounded disturbance case, the probability of system state leaving a bounded set is a function of the transmission time interval, disturbance amplitude, and system´s convergence rate. The simulation results of a leader follower example verify the theoretical findings in this paper.