Leader tracking in homogeneous vehicle platoons with broadcast delays

Andrés A. Peters, Richard H. Middleton, Oliver Mason

Research output: Contribution to journalArticlepeer-review

132 Scopus citations


For vehicle platoons, the leader following control architecture is known to be capable of achieving string stability while maintaining tight formations. In this paper, we study a variety of schemes where the leader state is available to the other members of the platoon. We show that in some cases it is possible to achieve string stability in the presence of certain amounts of time delay in the leader state reception. We also compare other properties of the different schemes and discuss some of their advantages and disadvantages.

Original languageEnglish
Pages (from-to)64-74
Number of pages11
Issue number1
StatePublished - Jan 2014


  • Leader following
  • Linear systems
  • String stability
  • Time delay
  • Vehicle platoons


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