Connected cruise control of a car platoon: A time-domain stability analysis

Abstract

A compact representation of a vehicle platoon following model considering the headway, velocity, and vehicle-to-vehicle communication delay is presented. Then, a connectivity structure is selected, which includes vehicles equipped with connected cruise control and a conventional vehicle as the leader. The platoon exponential stability and its robust stability with respect to time-varying matrix perturbations are studied. The analysis is carried out in the time domain, via Lyapunov–Krasovskii functionals depending on the delay Lyapunov matrix. The stability results are illustrated by stability charts of the plane of control gain parameters. A total of three platoon illustrative vehicle scenarios show the interest of the approach.

Keywords

Delay Lyapunov matrix exponential decay consensus stability chart

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