STABILITY ANALYSIS OF LONGITUDINAL CONTROL OF A PLATOON OF VEHICLES BY CONSIDERING LAGS SUBJECT TO COMMUNICATION DELAY

摘要

The problem of controlling a string of vehicles moving in one dimension is considered so that they all follow a lead vehicle with a constant spacing between successive vehicles. Due to practical design and implementation, stability and string stability of a platoon of vehicles in the simultaneous presence of lags, communication delay are investigated. Since the delays for transmitting signals will not be fixed, the communication time varying delay is considered. A sufficient condition for the stability criteria of the addressed problem is obtained. This paper provides a practical means to evaluate a platoon system by applying a hierarchical platoon controller and provides a reasonable proposal to design the controller. Finally, a simulation example of multiple vehicle platoon control with the effect of communication time varying delays is exploited to demonstrate the effectiveness of the proposed model and method.