Establishing Platoons of Bidirectional Cooperative Vehicles With Engine Limits and Uncertain Dynamics

In adaptive platooning strategies proposed in literature to handle uncertain and nonidentical vehicle dynamics (uncertain heterogeneous platoons) two aspects requiring proper design are neglected: bidirectional interaction among vehicles which might lead loss of string stability, engine saturation constraints cohesiveness. This work proposes a novel strategy handling these crucial aspects. Specifically, is handled by designing reference with proven stability properties, the platoon should homogenize; via mechanism that makes such `not too demanding', properly saturating their action. The action will allow all not hit limits, preserving Simulations conducted validate theoretical analysis show effectiveness method retaining cohesiveness platoon.