# Robust Distributed Control Protocols for Large Vehicular Platoons with Prescribed Transient and Steady State Performance

## TL;DR

This paper develops robust, fully distributed control protocols for large vehicular platoons that ensure prescribed transient and steady-state performance, even with unknown nonlinear dynamics and sensor limitations.

## Contribution

It introduces a novel distributed control scheme that guarantees prescribed performance in vehicle platoons without requiring prior knowledge of nonlinearities or disturbances.

## Key findings

- Protocols achieve desired transient and steady-state behaviors.
- Control schemes are robust against model uncertainties and sensor limitations.
- Simulations and real-world experiments validate effectiveness.

## Abstract

In this paper, we study the longitudinal control problem for a platoon of vehicles with unknown nonlinear dynamics under both the predecessor-following and the bidirectional control architectures. The proposed control protocols are fully distributed in the sense that each vehicle utilizes feedback from its relative position with respect to its preceding and following vehicles as well as its own velocity, which can all be easily obtained by onboard sensors. Moreover, no previous knowledge of model nonlinearities/disturbances is incorporated in the control design, enhancing in that way the robustness of the overall closed loop system against model imperfections. Additionally, certain designer-specified performance functions determine the transient and steady-state response, thus preventing connectivity breaks due to sensor limitations as well as inter-vehicular collisions. Finally, extensive simulation studies and a real-time experiment conducted with mobile robots clarify the proposed control protocols and verify their effectiveness.