Mesoscopic Controller for String Stability of Platoons With Disturbances

This article exploits macroscopic information for the control of autonomous vehicles in platoon formation case external disturbances. The use such leads to smoother platooning. A mesoscopic controller is proposed, and disturbance string stability proven through input-to-state concepts. Simulations prove efficacy proposed approach by showing its robustness with respect presence perturbations acting on vehicles.