Consensus based control algorithm for nonlinear vehicle platoons in the presence of time delays and packet losses

Vehicle platoon has been identified as a promising way in enhancing driving safety, decreasing traffic congestion and reducing energy consumption. However, the unreliable wireless communication between vehicles may degrade the performance and the stability of the platoon. In this paper, the vehicle platoon system in the presence of time delay and packet losses is considered. Based on the criterion of consensus for vehicle platoon system, a control algorithm is proposed for solving the problem of bounded time-varying delay and packet losses with Bernoulli distribution. Then, the sufficient condition for the stabilization of vehicle platoon controller is derived through the linear matrix inequalities (LMIs) and Lyapunov-based methodologies. The feasibility solution of the generated LMIs is obtained to verify the stability of the designed controller, and several numerical examples are given to demonstrate the effectiveness of the proposed approach.

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