In this paper, a novel approach to spacing policies for vehicle platoons and a framework for control design is presented. Whereas traditional approaches aim to mitigate the effect of actuation and communication delays on the spacing error, this paper presents spacing policies that account for delays. A framework for decentralized control design is presented and necessary and sufficient conditions for tracking of delayed-based spacing policies are stated. It is shown that due to the control design, string stability is induced by the spacing policy. The results are supported by experimental validations of the theoretical results.
@article{arxiv.2508.14587,
title = {Analysis and experimental validation of decentralized controllers for delayed spacing policies in vehicle-platooning},
author = {Paul Wijnbergen and Redmer de Haan and Erjen Lefeber},
journal= {arXiv preprint arXiv:2508.14587},
year = {2025}
}
Comments
This is a preprint of a manuscript submitted to Automatica