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This study develops a consensus algorithm for vehicle platoon under heterogeneous time-varying delays. A novel third-order dynamic model is introduced by considering initial powertrain lag to depict the vehicular heterogeneous longitudinal dynamics among connected vehicles (CVs). The proposed consensus protocol adapts to the dynamics of vehicle following, aiming to maintain stability in a platoon with diverse external perturbations. The information exchange among CVs is modeled by using directed graph. A Lyapunov-Krasovskii approach is employed to derive stability conditions ensuring the performance of the entire closed-loop platoon system for CVs. Results of this study are supported by numerical simulations that validate the proposed approach’s efficiency.

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Control Synthesis for Distributed Connected Vehicles Consensus with Heterogeneous Time-Delays

  • 会议论文

  • 发表日期：

    2025年

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  • Guokuan Yu,
  • Rongchen Zhao,
  • Jinqing Linghu,
  • Qing Shi,
  • Haifeng Yu

摘要

This study develops a consensus algorithm for vehicle platoon under heterogeneous time-varying delays. A novel third-order dynamic model is introduced by considering initial powertrain lag to depict the vehicular heterogeneous longitudinal dynamics among connected vehicles (CVs). The proposed consensus protocol adapts to the dynamics of vehicle following, aiming to maintain stability in a platoon with diverse external perturbations. The information exchange among CVs is modeled by using directed graph. A Lyapunov-Krasovskii approach is employed to derive stability conditions ensuring the performance of the entire closed-loop platoon system for CVs. Results of this study are supported by numerical simulations that validate the proposed approach’s efficiency.