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Decentralized optimal control of a vehicle platoon with guaranteed string stability

Abstract : This paper presents new decentralized optimal strategies for Cooperative Adaptive Cruise Control (CACC) of a car platoon under string-stability constraints. Two related scenarios are explored in the article: in the first one, a linear-quadratic regulator in the presence of measurable disturbances is synthesized, and the string-stability of the platoon is enforced over the controller's feedback and feedforward gains. In the second scenario, H2- and Hinf-performance criteria, respectively accounting for the desired group behavior and the string-stability of the platoon, are simultaneously achieved using the recently-proposed compensator blending method. An analytical study of the impact of actuation/communication delays and uncertain model parameters on the stability of the multi-vehicle system, is also conducted. The theory is illustrated via numerical simulations.
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Contributor : Fabio Morbidi <>
Submitted on : Monday, March 24, 2014 - 1:16:49 PM
Last modification on : Wednesday, May 13, 2020 - 4:16:01 PM
Document(s) archivé(s) le : Tuesday, June 24, 2014 - 10:53:13 AM


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  • HAL Id : hal-00961553, version 1



Fabio Morbidi, Patrizio Colaneri, Thomas Stanger. Decentralized optimal control of a vehicle platoon with guaranteed string stability. 12th biannual European Control Conference (ECC 2013), Jul 2013, Zurich, Switzerland. pp.3494-3499. ⟨hal-00961553⟩



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