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∞ 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∞ control.
@article{arxiv.2103.13830,
title = {Multi-Objective $H_{\infty}$ Control for String Stability of Cooperative Adaptive Cruise Control Systems},
author = {Erkan Kayacan},
journal= {arXiv preprint arXiv:2103.13830},
year = {2021}
}