# Stochastic String Stability of Vehicle Platoons via Cooperative Adaptive Cruise Control with Lossy Communication

## TL;DR

This paper develops a novel cooperative adaptive cruise control method for vehicle platoons that maintains stability despite lossy communication, using a switching controller designed with an $H_ ext{infty}$ approach to ensure robustness and minimize variance.

## Contribution

It introduces a new switching controller design that enhances string stability and robustness in vehicle platoons under unreliable communication conditions.

## Key findings

- Controller maintains stability even with high message loss probability
- Proposed method improves string stability and reduces error variance
- Simulation results demonstrate robustness against communication losses

## Abstract

This paper is about obtaining stable vehicle platooning by using Cooperative Adaptive Cruise Control when the communication is unreliable and suffers from message losses. We model communication losses as independent random events and we propose an original design for the cooperative controller, which mitigates the effect of losses. This objective is obtained by a switching controller that has a twofold objective: on the one hand, it promotes both plant stability and string stability of the average error dynamics by an $H_infty$ approach, and on the other hand it minimizes the variance around the average. We show by simulations that the proposed controller is able to compensate even for high probability of losses.