State Feedback Control of a Platoon in the Presence of Parametric Uncertainty and Communication Delay

Abstract

For a platoon of vehicles, the string stability and vehicle stability are critical parts of a design. The impact of parametric uncertainty and communication delay deteriorates the string stability and vehicle stability. In this paper, a state feedback control is designed for a platoon of vehicles affected by the parametric uncertainty and a communication delay. The dynamics of spacing error and the conditions for string stability of a platoon are derived. The proposed scheme’s performance is verified by considering the various level of parametric uncertainty and communication delay, and it is compared with a system without parametric uncertainty and in the absence of communication delay.