Sampling-based cooperative adaptive cruise control subject to communication delays and actuator lags

Abstract

This paper studies a sampling-based cooperative adaptive cruise control (CACC) problem under communication delays and actuator lags. To deal with this problem, a new sampled control framework for each following vehicle is established, in which the time-varying communication delays and actuator lags are involved. By the proposed framework, an effective sampled control law for the CACC systems is given with the leader–predecessor following communication topology. In order to guarantee inner vehicular stability, the Lyapunov–Krasovskii function method is applied to obtain the sufficient condition for the existence of a controller by using state transformation. Furthermore, additional string stability conditions are complemented by considering the upper bound of delays. A useful controller design algorithm is given to ensure inner stability and string stability simultaneously. A numerical example is given to illustrate the effectiveness of controller design methodology of CACC systems.