String Stable Integral Control of Vehicle Platoons with Actuator Dynamics and Disturbances

TL;DR

This paper introduces a novel integral control method for vehicle platoons that ensures string stability despite actuator dynamics and disturbances, using a state transformation and simulation validation.

Contribution

It proposes a new integral controller design that guarantees disturbance string stability for vehicle platoons with actuator dynamics, a novel approach in this context.

Findings

Controller guarantees disturbance string stability for prescribed actuator time constants.

Simulation shows faster actuator dynamics also achieve disturbance string stability.

Sufficient conditions for string stability are derived using a state transformation.

Abstract

This paper presents the design of an integral controller for vehicle platoons with actuator dynamics. The proposed controller ensures string stability with disturbances and simultaneously compensates for constant disturbances through integral action. Sufficient conditions for string stability are satisfied by the use of a suitable state transformation. The proposed controller guarantees disturbance string stability for a prescribed time constant of the actuator dynamics, and we show through simulation that platoons with faster dynamics are also made disturbance string stable.