A Linear Matrix Inequality-based Relaxed Time-delay Platooning Controller Design for Multiple Autonomous Vehicles

Abstract

This study presents a method for designing a platooning controller for multiple autonomous vehicles, including time delay. The platooning control system under consideration is represented as a linear state space equation with a time-delayed state variable. Subsequently, we derived stabilization conditions for the platooning control system to ensure string stability, in terms of linear matrix inequalities. When deriving stabilization conditions, we used two types of integral inequalities and compared their application. Finally, we verified and compared the performance of the designed platooning controller using simulation examples.