Title:Decentralized optimal control of a car platoon with guaranteed string stabilityAuthor(s):Fabio Morbidi,  Patrizio Colaneri,  Thomas StangerAbstract:This paper presents new decentralized optimal strategies for Cooperative Adaptive Cruise Control (CACC) of a car platoon under string-stability constraints. Two related scenarios are explored in the article: in the first one, a linearquadratic regulator in the presence of measurable disturbances is synthesized, and the string-stability of the platoon is enforced over the controller’s feedback and feedforward gains. In the second scenario, H2- andH∞-performance criteria, respectively accounting for the desired group behavior and the stringstability of the platoon, are simultaneously achieved using the recently-proposed compensator blending method. An analytical study of the impact of actuation/communication delays and uncertain model parameters on the stability of the multi-vehicle system, is also conducted. The theory is illustrated via numerical simulations.Booktitle:European Control ConferencePage Reference:page 3494-3499, 6 page(s)Publishing:2013

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