String stable integral control design for vehicle platoons with disturbances

This paper presents a control design with integral action for vehicle platoons disturbances that ensures string stability of the closed-loop system and disturbance rejection. The addition coordinate change allows development sufficient smoothness conditions on to ensure using proposed controller is stable when subject time-varying disturbances, while rejecting constant disturbances. In addition, bounds tracking error platoon configuration are also given. A case study considered together suitable structure, which satisfies required conditions. Simulation results illustrate performance system.