KaydedilenlerDerginizi ekleyin

Dergiler / Communications Faculty of Sciences University of Ankara Series A2-A3 Physical Sciences and Engineering / 2026 / Volume: 68 Issue: 1

Controller Design and Stabilization of Heterogeneous Vehicular Platoons under Time-Varying Communication and Actuator Delays

Hilal Bingöl(ÇANKAYA ÜNİVERSİTESİ, MÜHENDİSLİK FAKÜLTESİ)0000-0001-8759-1656
Sayfa
—
Yayın Tarihi
2026-06-30
🏛️Bu makalenin bibliyografik verileri ve tam metin bağlantısı DergiPark üzerinden sağlanmıştır.
DergiPark Kaydı ↗
✨

Yapay Zeka Hızlı Bakış & Çıkarımlar

AI Insight
⚡ TL;DR(1 Cümlede Hızlı Çıkarım)

A comparative analysis with two benchmark studies from the literature reveals that the proposed method requires larger headway-time constants, highlighting the trade-off between enhanced robustness and reduced traffic throughput.

📌 3 Maddede Bu Makale

🎯
Amaç & Hipotez:Cooperative Adaptive Cruise Control (CACC) enables safe, comfortable driving over short distances among multiple vehicles.
📊
Temel Bulgular & Veri:This study presents a novel controller design for CACC systems to guarantee L_2-string stability under time-varying actuator and communication delays.
💡
Sonuç & Katkı:A comparative analysis with two benchmark studies from the literature reveals that the proposed method requires larger headway-time constants, highlighting the trade-off between enhanced robustness and reduced traffic throughput.
🔬Tür:Modelleme & Sayısal Simülasyon
📍Kapsam:Genişletilmiş Akademik Örneklem
⚙️Değişkenler:. Lyapunov-Krakovskii theorem · L_2-string stability · time varying actuator delay

Abstract

Cooperative Adaptive Cruise Control (CACC) enables safe, comfortable driving over short distances among multiple vehicles. One of the essential objectives of the CACC is to achieve vehicle stability in the presence of wireless communication throughout vehicles. Here, time delay is an unavoidable factor that must be accounted for to guarantee vehicle stability. This study presents a novel controller design for CACC systems to guarantee L_2-string stability under time-varying actuator and communication delays. Contrary to most existing work that assumes constant or identical delays, both types of delays are modeled as time-varying and heterogeneous across vehicles. The controller is synthesized using the Lyapunov-Krasovskii approach to handle varying delays effectively. Furthermore, a non-linear vehicle dynamics model is employed, and simulation studies are conducted for a heterogeneous platoon. The results demonstrate that the proposed controller ensures L_2-string stability for each vehicle in the heterogeneous platoon. A comparative analysis with two benchmark studies from the literature reveals that the proposed method requires larger headway-time constants, highlighting the trade-off between enhanced robustness and reduced traffic throughput.

🔖

Bu Makaleye Atıf Yap

Bingöl, H. (2026). Controller Design and Stabilization of Heterogeneous Vehicular Platoons under Time-Varying Communication and Actuator Delays. Communications Faculty of Sciences University of Ankara Series A2-A3 Physical Sciences and Engineering, Volume: 68 Issue: 1. https://doi.org/10.33769/aupse.1727467

📄 Tam Metin PDF Okuyucu

📄

PDF görüntüleyici hazırlanıyor...

Kaynakça (36)

  1. Molinete, B., Campos, S., Olabarrieta, I., and Torre, A. I., Reference ITS Architectures in Europe, Intelligent Transport Systems, John Wiley & Sons, Ltd., (2015), 1–17.
  2. Nasim, R., and Kassler, A., Distributed Architectures for Intelligent Transport Systems: A Survey, in: Proceedings of the 2012 Second Symposium on Network Cloud Computing and Applications, IEEE Press, London, UK, (2012), 130–136.
  3. Axelsson, J., Safety in Vehicle Platooning: A Systematic Literature Review, IEEE Transactions on Intelligent Transportation Systems, 18(5) (2017), 1033–1045.
  4. Raza, H., and Ioannou, P., Vehicle Following Control Design for Automated Highway Systems, IEEE Control Systems Magazine, 16(6) (1996), 43–60.
  5. Swaroop, D., and Hedrick, J. K., Constant Spacing Strategies for Platooning in Automated Highway Systems, Journal of Dynamic Systems, Measurement, and Control, 121(3) (1999), 462–470.
  6. Swaroop, D., and Hedrick, J. K., String Stability of Interconnected Systems, IEEE Transactions on Automatic Control, 41(3) (1996), 349–357.
  7. Naus, G. J. L., Vugts, R. P. A., Ploeg, J., van de Molengraft, M. J. G., and Steinbuch, M., String‑stable CACC design and experimental validation: a frequency‑domain approach, IEEE Transactions on Vehicular Technology, 59(9) (2010), 4268–4279.
  8. Ploeg, J., Shukla, D. P., van de Wouw, N., and Nijmeijer, H., Controller Synthesis for String Stability of Vehicle Platoons, IEEE Transactions on Intelligent Transportation Systems, 15(2) (2014), 854–865.
  9. Ploeg, J., van de Wouw, N., and Nijmeijer, H., Lp String Stability of Cascaded Systems: Application to Vehicle Platooning, IEEE Transactions on Control Systems Technology, 22(2) (2014), 786–793.
  10. Ma, F., et al., "Distributed Control of Cooperative Vehicular Platoon with Nonideal Communication Condition," in IEEE Transactions on Vehicular Technology, vol. 69, no. 8, pp. 8207-8220, Aug. 2020.
  11. Ghasemi, A., Kazemi, R., and Azadi, S., Stability Analysis of Bidirectional Adaptive Cruise Control with Asymmetric Information Flow, Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science, 229(2) (2015), 216–226.
  12. Di Bernardo, M., Salvi, A., and Santini, S., Distributed Consensus Strategy for Platooning of Vehicles in the Presence of Time Varying Heterogeneous Communication Delays, IEEE Transactions on Intelligent Transportation Systems, 16(1) (2015), 102–112.
  13. Huang, D., Li, S., Zhang, Z., Liu, Y., and Mi, B., Design and Analysis of Longitudinal Controller for the Platoon with Time Varying Delay, IEEE Transactions on Intelligent Transportation Systems, 23(12) (2022), 23628–23639.
  14. Wang, J., Li, X., Park, J. H., and Guo, G., Distributed MPC Based String Stable Platoon Control of Networked Vehicle Systems, IEEE Transactions on Intelligent Transportation Systems, 24(3) (2023), 3078–3090.
  15. Guo, G., and Li, D., Adaptive Sliding Mode Control of Vehicular Platoons with Prescribed Tracking Performance, IEEE Transactions on Vehicular Technology, 68(8) (2019), 7511–7520.
  16. Ploeg, J., Analysis and Design of Controllers for Cooperative and Automated Driving, PhD thesis, Technische Universiteit Eindhoven, The Netherlands, 2014.
  17. Zhu, Y., Zhao, D., and He, H., Synthesis of Cooperative Adaptive Cruise Control with Feedforward Strategies, IEEE Transactions on Vehicular Technology, 69(4) (2020), 3615–3627.
  18. Li, Y., Tang, C., Peeta, S., and Wang, Y., Nonlinear Consensus Based Connected Vehicle Platoon Control Incorporating Car Following Interactions and Heterogeneous Time Delays, IEEE Transactions on Intelligent Transportation Systems, 20(6) (2019), 2260–2275.
  19. Gao, F., Li, S. E., Zheng, Y., and Kum, D., Robust Control of Heterogeneous Vehicular Platoon with Uncertain Dynamics and Communication Delay, IET Intelligent Transport Systems, 10(7) (2016), 503–513.
  20. Kolmanovskii, V. B., and Richard, J. P., Stability of Some Linear Systems with Delays, IEEE Transactions on Automatic Control, 44(5) (1999), 984–989.
  21. Jiang, X., and Han, Q.-L., On H_∞ Control for Linear Systems with Interval Time Varying Delay, Automatica, 41(12) (2005), 2099–2106.
  22. Khalil, H. K., Nonlinear Systems, Prentice Hall, Englewood Cliffs, NJ, (2002).
  23. Nandhini, M. and Rabik, M.M. (2025). Comparative analysis of PID and LQR control for autonomous vehicle platoons. In Emerging Electronics and Automation, 101–112. Springer Nature Singapore, Singapore.
  24. Zhang, H., Feng, T., Liang, H., and Luo, Y., "LQR-Based Optimal Distributed Cooperative Design for Linear Discrete-Time Multiagent Systems," in IEEE Transactions on Neural Networks and Learning Systems, vol. 28, no. 3, pp. 599-611, March 2017.
  25. Davis, L. C., Nonlinear Dynamics of Autonomous Vehicles with Limits on Acceleration, Physica A: Statistical Mechanics and its Applications, 405 (2014), 128–139.
  26. Xiao, L., and Gao, F., Practical String Stability of Platoon of Adaptive Cruise Control Vehicles, IEEE Transactions on Intelligent Transportation Systems, 12(4) (2011), 1184–1194.
  27. Caudill, R. J., and Garrard, W. L., Vehicle Follower, Longitudinal Control for Automated Transit Vehicles, in: IFAC/IFIP/IFORS International Symposium on Control in Transportation Systems, Columbus, OH, USA, Vol. 9(4) (1976), 195–209.
  28. Sheikholeslam, S., and Desoer, C. A., Longitudinal Control of a Platoon of Vehicles with No Communication of Lead Vehicle Information: A System Level Study, IEEE Transactions on Vehicular Technology, 42(4) (1993), 546–554.
  29. Besselink, B., and Johansson, K. H., String stability and a delay-based spacing policy for vehicle platoons subject to disturbances, IEEE Transactions on Automatic Control, 62(9) (2017), 4376–4391.
  30. Chen, J., Liang, H., Li, J., and Lv, Z., Connected automated vehicle platoon control with input saturation and variable time headway strategy, IEEE Transactions on Intelligent Transportation Systems, 22(8) (2020), 4929–4940.
  31. Fridman, E., Introduction to Time-Delay Systems: Analysis and Control, Springer, Cham, (2014).
  32. Gu, K., Chen, J., and Kharitonov, V. L., Stability of time delay systems, Birkhäuser (Springer Science & Business Media), Boston, (2003).
  33. Boyd, S., El Ghaoui, L., Feron, E., and Balakrishnan, V., Linear Matrix Inequalities in System and Control Theory, SIAM Studies in Applied Mathematics, 15 (1994), 193 pp.
  34. Automobile Catalog. Accessed: May 06, 2025. [Online]. Available: https://www.automobile-catalog.com/.
  35. Steinberger, M., Tranninger, M., Horn, M., and Johansson, K. H., How to simulate networked control systems with variable time delays?, IFAC-PapersOnLine, 53(2) (2020), 3098–3103.
  36. Bingöl, H., and Schmidt, K. W., Zamanla Değişen Haberleşme Gecikmesi Altında KASK Sistemi için LMI Tabanlı Kontrolcü Sentezi, in: TOK’2024 – 25. Otomatik Kontrol Ulusal Toplantısı, Konya, Türkiye, (2024), 12–14.