Stochastic String Stability of Vehicle Platoons via Cooperative Adaptive Cruise Control With Lossy Communication

This paper is about obtaining stable vehicle platooning by using Cooperative Adaptive Cruise Control when the communication unreliable and suffers from message losses. We model losses as independent random events we propose an original design for cooperative controller, which effectively mitigates effects of Our explicitly takes into account stochastic nature considering both average evolution system variations around it. The control promotes plant stability string error dynamics $\mathscr {H}_\infty $ approach, while minimizing variance trajectories their average. show simulations that proposed controller able to compensate even high loss probabilities.