Leader tracking in homogeneous vehicle platoons with broadcast delays

Optimal Distributed Control for Platooning via Sparse Coprime Factorizations

“…• guarantees string stability in the presence of time delays induced by the wireless communications [22], [21], [31];…”

“…• allows for optimal controller design via norm based costs, while accommodating heterogeneous vehicles equipped with heterogeneous controllers [17], [21], [31].…”

“…However, this approach raises the immediate concern of eventual disruptions in the broadcast of the leader's state to the follower vehicles. Furthermore, the comprehensive analysis done in [31] shows that the performance of leader-follower schemes entailing the transmission the leader's state or its estimate is irremediably altered by the presence of the communications delays induced by the physical limitations of existing wireless systems.…”

“…Since no available control solution was deemed completely satisfactory, considerable research efforts are still being spent [9], [10], [12], [31], [21] motivated by the advent of assisted driving systems and the imminence of driverless vehicles.…”

Developing a Distributed Consensus-Based Cooperative Adaptive Cruise Control System for Heterogeneous Vehicles with Predecessor Following Topology

“…Amoozadeh et al [15] developed a platoon management protocol for CACC vehicles, including CACC longitudinal control logic and platoon merge and split maneuvers. In terms of intervehicle distance in motion (at relatively high speed), the existing vehicle-following models can be divided into two categories: one that regulates the spatial gap, where one vehicle follows its predecessor with a fixed intervehicle distance [16] and the other that is based on time gap or velocity-dependent distance, where the intervehicle distance may vary with vehicle velocity and vehicle length by keeping a constant time headway. Our approach falls into the second category.…”