Mesoscopic Controller for String Stability of Platoons With Disturbances

Marco Mirabilio (1) , Alessio Iovine (2) , Elena de Santis (1) , Maria Domenica Di Benedetto (1) , Giordano Pola (1)

1 DISIM - Department of Information Engineering, Computer Science and Mathematics = Dipartimento di Ingegneria e Scienze dell'Informazione e Matematica [L'Aquila]
2 L2S - Laboratoire des signaux et systèmes

This paper exploits macroscopic information for the control of autonomous vehicles in platoon formation in case of external disturbances. The use of such information leads to a smoother platooning. A mesoscopic controller is proposed, and Disturbance String Stability is proven through Input-to-State Stability (ISS) concepts. Simulations prove the efficacy of the proposed approach by showing its robustness with respect to the presence of perturbations acting on the platoon vehicles.

Keywords: Vehicle platoon; String Stability; mesoscopic modeling; macroscopic information; Cooperative Adaptive Cruise Control; Input-to-State Stability; cascaded systems; mixed traffic

Domains: Automatic; Optimization and Control [math.OC]

Marco Mirabilio, Alessio Iovine, Elena de Santis, Maria Domenica Di Benedetto, Giordano Pola. Mesoscopic Controller for String Stability of Platoons With Disturbances. IEEE Transactions on Control of Network Systems, In press, ⟨10.1109/TCNS.2022.3182038⟩. ⟨hal-03761237⟩