Platoon stability conditions under inter-vehicle additive noisy communication channels

Marco A. Gordon, Francisco J. Vargas, Andrés A. Peters, Alejandro I. Maass

Research output: Contribution to journalConference articlepeer-review

4 Scopus citations

Abstract

This paper studies the behavior of a platoon control system under the presence of inter-vehicle noisy communication channels. A set of homogeneous vehicles modelled as LTI systems with a predecessor-following topology is analyzed. Our main contribution is to study the stochastic scenario when additive white noise is affecting the communication between agents. We aim to provide conditions for mean square string stability and look over its relationship with the mean and variance of the tracking error. Finally, through computational analysis, we discuss the scalability, convergence and boundedness properties related to string stability in stochastic multi-agent systems.

Original languageEnglish
Pages (from-to)3150-3155
Number of pages6
JournalIFAC-PapersOnLine
Volume53
Issue number2
DOIs
StatePublished - 2020
Event21st IFAC World Congress 2020 - Berlin, Germany
Duration: 12 Jul 202017 Jul 2020

Keywords

  • Additive white noise
  • Communication channels
  • Stochastic string stability
  • Time-headway
  • Vehicular platoon control

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