Multi-vehicle platoon control with time-varying input delays

Document Type

Conference Proceeding

Date of Original Version



Platooning, or controlled management of vehicle formation, enables multiple vehicles equipped with adaptive cruise control (ACC) systems to drive behind one another with a specified intervehicle distance, acting together as one unit. Typically, delays in throttle and brake response, as well as in vehicle computer systems, are unpredictable and time-varying, and can ultimately lead to performance degradation and system destabilization. The platoon control system must thus be designed in a way so as to mitigate the effects delays can impose on system stability. This paper presents a novel robust multi-vehicle platoon control algorithm that compensates for time-varying delays under the integral quadratic constraint (IQC) framework. All vehicle models are assumed to incorporate heterogeneous time-varying actuation/input delays. The simulation results exemplify the controller's effectiveness in maintaining overall stability and platooning performance in the presence of time-varying input delays.

Publication Title, e.g., Journal

ASME 2017 Dynamic Systems and Control Conference, DSCC 2017