Control of connected vehicles with multi-type communication topology and delay

This paper designs a vehicle platoon tracking control method to overcome the effect of various type of intervehicle communication typology and different inter-vehicle communication delays. First, a linear distributed controller is contributed by considering different communication delays between vehicles based on the third-order dynamics model of vehicles. Second, the platoon delay system is decomposed into a form of mutually coupled interconnected multi-subsystem via spectral decomposed technology. Then, by using the Lyapunov-Krasovskii stability theory, the upper bound of the communication delay of a single vehicle is obtained, and then the upper bound of the delay of the platoon system is derived. Furthermore, the frequency domain analysis method is used to analyze the distance error transfer function of the platoon, and the conditions that ensure the string stability of the platoon are obtained. Finally, the effectiveness of the control algorithm is verified by MATLAB/simulink simulation software.