From vehicular platoons to general networked systems: String stability and related concepts

Controller synthesis for string stability of vehicle platoons

Cooperative adaptive cruise control (CACC) allows for short-distance automatic vehicle following using intervehicle wireless communication in addition to onboard sensors, thereby potentially improving road throughput. In order to fulfill performance, safety, and comfort requirements, a CACC-equipped vehicle platoon should be string stable, attenuating the effect of disturbances along the vehicl...

Effects of Communication Delay on String Stability in Vehicle Platoons

The throughput of vehicles on highways can be greatly increased by forming vehicle platoons with small inter-vehicle spacings. The control law that maintains stable operation of a platoon is dependent on the lead and preceding vehicle’s position, velocity and acceleration profiles. These profiles guarantee string stability of a platoon and are transmitted via wireless communication networks. Th...

Mistuning-based Control Design to Improve Closed-loop Stability of Vehicular Platoons

We consider a decentralized bidirectional control of a platoon of N identical vehicles moving in a straight line. The control objective is for each vehicle to maintain a constant velocity and inter-vehicular separation using only the local information from itself and its two nearest neighbors. Each vehicle is modeled as a double integrator. To aid the analysis, we use continuous approximation t...

A Two-Dimensional Systems Stability Analysis of Vehicle Platoons

vii Preface ix Acknowledgements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ix Publications during doctorate . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xi

Stability Issues in Distributed Systems of Vehicle Platoons