Multi-Objective $H_{\infty}$ Control for String Stability of Cooperative Adaptive Cruise Control Systems

TL;DR

This paper proposes a multi-objective $H_{ {infty}}$ control approach to ensure string stability in cooperative adaptive cruise control systems, addressing disturbance attenuation in vehicle platoons with shorter gaps.

Contribution

It introduces a novel multi-objective $H_{ {infty}}$ control formulation that guarantees both system and string stability, improving upon traditional methods.

Findings

Achieves disturbance attenuation along vehicle platoons.

Ensures string stability in adaptive cruise control systems.

Provides a control solution that balances stability and performance.

Abstract

Autonomous vehicle following systems are playing a decisive role to increase vehicle density on roads by shortening inter-vehicle time gaps. However, disturbance attenuation along a platoon of vehicles, i.e., string stability, is being a challenging task while time gap is getting shorter. In order to guarantee the string stability of a vehicle platoon, a multi-objective $H_{\infty}$ control formulation for adaptive cruise control and cooperative adaptive cruise control structures has been investigated in this paper. The proposed control method solves an optimization problem and achieves a controller that is able to provide not only the system stability, but also the string stability as distinct from the traditional $H_{\infty}$ control.