Linear Quadratic Integral Control with Double Integrator for Platooning System: A Numerical Study of String Stability

Carlos Escobar; Luis Severino; Héctor Ramírez; Andrés Peters; Francisco Vargas

doi:10.1109/CHILECON66915.2025.11476060

Linear Quadratic Integral Control with Double Integrator for Platooning System: A Numerical Study of String Stability

Carlos Escobar
, Luis Severino
, Héctor Ramírez
, Andrés Peters
, Francisco Vargas

Facultad de Ingeniería y Ciencias

Producción científica: Capítulo del libro/informe/acta de congreso › Contribución a la conferencia › revisión exhaustiva

Resumen

In this work, we study string stability in vehicle platoons based on linear quadratic integral control (LQI). We focus on platoons modeled as continuous time LTI systems under a predecessor-following configuration with a time headway spacing policy. To ensure zero steady-state tracking error, we employ the LQI technique with double integration. Through numerical simulations, we show the relationship between the time headway constant and the weighting matrices of the LQI cost functional and how these design parameters affect string stability. Index Terms-string stability, platooning system, LQI, double integrator.

Idioma original	Inglés
Título de la publicación alojada	2025 IEEE CHILEAN Conference on Electrical, Electronics Engineering, Information and Communication Technologies, CHILECON 2025
Editores	Gaston Lefranc, Claudio Cubillos
Editorial	Institute of Electrical and Electronics Engineers Inc.
ISBN (versión digital)	9798350357363
DOI	https://doi.org/10.1109/CHILECON66915.2025.11476060
Estado	Publicada - 2025
Evento	2025 IEEE CHILEAN Conference on Electrical, Electronics Engineering, Information and Communication Technologies, CHILECON 2025 - Valparaiso, Chile Duración: 28 oct 2025 → 30 oct 2025

Serie de la publicación

Nombre	Proceedings - IEEE CHILEAN Conference on Electrical, Electronics Engineering, Information and Communication Technologies, ChileCon
ISSN (versión impresa)	2832-1529
ISSN (versión digital)	2832-1537

Conferencia

Conferencia	2025 IEEE CHILEAN Conference on Electrical, Electronics Engineering, Information and Communication Technologies, CHILECON 2025
País/Territorio	Chile
Ciudad	Valparaiso
Período	28/10/25 → 30/10/25

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10.1109/CHILECON66915.2025.11476060

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Escobar, C., Severino, L., Ramírez, H., Peters, A., & Vargas, F. (2025). Linear Quadratic Integral Control with Double Integrator for Platooning System: A Numerical Study of String Stability. En G. Lefranc, & C. Cubillos (Eds.), 2025 IEEE CHILEAN Conference on Electrical, Electronics Engineering, Information and Communication Technologies, CHILECON 2025 (Proceedings - IEEE CHILEAN Conference on Electrical, Electronics Engineering, Information and Communication Technologies, ChileCon). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/CHILECON66915.2025.11476060

Escobar, Carlos ; Severino, Luis ; Ramírez, Héctor et al. / Linear Quadratic Integral Control with Double Integrator for Platooning System : A Numerical Study of String Stability. 2025 IEEE CHILEAN Conference on Electrical, Electronics Engineering, Information and Communication Technologies, CHILECON 2025. editor / Gaston Lefranc ; Claudio Cubillos. Institute of Electrical and Electronics Engineers Inc., 2025. (Proceedings - IEEE CHILEAN Conference on Electrical, Electronics Engineering, Information and Communication Technologies, ChileCon).

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title = "Linear Quadratic Integral Control with Double Integrator for Platooning System: A Numerical Study of String Stability",

abstract = "In this work, we study string stability in vehicle platoons based on linear quadratic integral control (LQI). We focus on platoons modeled as continuous time LTI systems under a predecessor-following configuration with a time headway spacing policy. To ensure zero steady-state tracking error, we employ the LQI technique with double integration. Through numerical simulations, we show the relationship between the time headway constant and the weighting matrices of the LQI cost functional and how these design parameters affect string stability. Index Terms-string stability, platooning system, LQI, double integrator.",

author = "Carlos Escobar and Luis Severino and H{\'e}ctor Ram{\'i}rez and Andr{\'e}s Peters and Francisco Vargas",

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Escobar, C, Severino, L, Ramírez, H, Peters, A & Vargas, F 2025, Linear Quadratic Integral Control with Double Integrator for Platooning System: A Numerical Study of String Stability. En G Lefranc & C Cubillos (eds.), 2025 IEEE CHILEAN Conference on Electrical, Electronics Engineering, Information and Communication Technologies, CHILECON 2025. Proceedings - IEEE CHILEAN Conference on Electrical, Electronics Engineering, Information and Communication Technologies, ChileCon, Institute of Electrical and Electronics Engineers Inc., 2025 IEEE CHILEAN Conference on Electrical, Electronics Engineering, Information and Communication Technologies, CHILECON 2025, Valparaiso, Chile, 28/10/25. https://doi.org/10.1109/CHILECON66915.2025.11476060

Linear Quadratic Integral Control with Double Integrator for Platooning System: A Numerical Study of String Stability. / Escobar, Carlos; Severino, Luis; Ramírez, Héctor et al.
2025 IEEE CHILEAN Conference on Electrical, Electronics Engineering, Information and Communication Technologies, CHILECON 2025. ed. / Gaston Lefranc; Claudio Cubillos. Institute of Electrical and Electronics Engineers Inc., 2025. (Proceedings - IEEE CHILEAN Conference on Electrical, Electronics Engineering, Information and Communication Technologies, ChileCon).

Producción científica: Capítulo del libro/informe/acta de congreso › Contribución a la conferencia › revisión exhaustiva

TY - GEN

T1 - Linear Quadratic Integral Control with Double Integrator for Platooning System

T2 - 2025 IEEE CHILEAN Conference on Electrical, Electronics Engineering, Information and Communication Technologies, CHILECON 2025

AU - Escobar, Carlos

AU - Severino, Luis

AU - Ramírez, Héctor

AU - Peters, Andrés

AU - Vargas, Francisco

PY - 2025

Y1 - 2025

N2 - In this work, we study string stability in vehicle platoons based on linear quadratic integral control (LQI). We focus on platoons modeled as continuous time LTI systems under a predecessor-following configuration with a time headway spacing policy. To ensure zero steady-state tracking error, we employ the LQI technique with double integration. Through numerical simulations, we show the relationship between the time headway constant and the weighting matrices of the LQI cost functional and how these design parameters affect string stability. Index Terms-string stability, platooning system, LQI, double integrator.

AB - In this work, we study string stability in vehicle platoons based on linear quadratic integral control (LQI). We focus on platoons modeled as continuous time LTI systems under a predecessor-following configuration with a time headway spacing policy. To ensure zero steady-state tracking error, we employ the LQI technique with double integration. Through numerical simulations, we show the relationship between the time headway constant and the weighting matrices of the LQI cost functional and how these design parameters affect string stability. Index Terms-string stability, platooning system, LQI, double integrator.

UR - https://www.scopus.com/pages/publications/105038008725

U2 - 10.1109/CHILECON66915.2025.11476060

DO - 10.1109/CHILECON66915.2025.11476060

M3 - Conference contribution

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T3 - Proceedings - IEEE CHILEAN Conference on Electrical, Electronics Engineering, Information and Communication Technologies, ChileCon

BT - 2025 IEEE CHILEAN Conference on Electrical, Electronics Engineering, Information and Communication Technologies, CHILECON 2025

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PB - Institute of Electrical and Electronics Engineers Inc.

Y2 - 28 October 2025 through 30 October 2025

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Escobar C, Severino L, Ramírez H, Peters A, Vargas F. Linear Quadratic Integral Control with Double Integrator for Platooning System: A Numerical Study of String Stability. En Lefranc G, Cubillos C, editores, 2025 IEEE CHILEAN Conference on Electrical, Electronics Engineering, Information and Communication Technologies, CHILECON 2025. Institute of Electrical and Electronics Engineers Inc. 2025. (Proceedings - IEEE CHILEAN Conference on Electrical, Electronics Engineering, Information and Communication Technologies, ChileCon). doi: 10.1109/CHILECON66915.2025.11476060

Linear Quadratic Integral Control with Double Integrator for Platooning System: A Numerical Study of String Stability

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