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Adaptive robust control for connected autonomous vehicle platoons under dynamic time-delay disturbances

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Listed:
  • Liang, Jun
  • Gu, Yiran
  • Wang, Lumin
  • Wang, Wensa
  • Pan, Chaofeng
  • Chen, Long

Abstract

To improve the stability of the CAVP in dynamic communication delay and vehicle transmission delay environments, a control method based on PLF (Predecessor-Leader Following) communication topology is proposed, which integrates multi-state dynamic information such as speed difference, acceleration difference, vehicle distance error between the lead vehicle, neighboring front vehicles, and the self vehicle. A robust controller with adaptive regulation for the CAVP is constructed, and the parameter boundary conditions of the controller are derived based on Lyapunov stability theory to ensure system stability. To avoid potential system oscillations during the parameterization process, the controller sets different regulation constants for the pilot car and the neighboring front cars, respectively, to further maintain system stability. The experimental results show that the controller has significant advantages in reducing the platoon spacing error and improving response speed, especially under the influence of time-delay interference. It can advance the platoons to reach stabilization time by approximately 16 s, demonstrating better stability and efficiency. This study not only improves the adaptability of platoon control but also provides new theoretical support and experimental basis for the application of networked automated driving technology in dynamic communication environments, which is an important impetus for the development of intelligent transportation systems.

Suggested Citation

  • Liang, Jun & Gu, Yiran & Wang, Lumin & Wang, Wensa & Pan, Chaofeng & Chen, Long, 2026. "Adaptive robust control for connected autonomous vehicle platoons under dynamic time-delay disturbances," Physica A: Statistical Mechanics and its Applications, Elsevier, vol. 682(C).
    • Handle: RePEc:eee:phsmap:v:682:y:2026:i:c:s0378437125007903
    DOI: 10.1016/j.physa.2025.131138
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    References listed on IDEAS

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    1. En Lu & Jialin Xue & Tiaotiao Chen & Song Jiang, 2023. "Robust Trajectory Tracking Control of an Autonomous Tractor-Trailer Considering Model Parameter Uncertainties and Disturbances," Agriculture, MDPI, vol. 13(4), pages 1-17, April.
    2. Pi, Dawei & Xue, Pengyu & Wang, Weihua & Xie, Boyuan & Wang, Hongliang & Wang, Xianhui & Yin, Guodong, 2023. "Automotive platoon energy-saving: A review," Renewable and Sustainable Energy Reviews, Elsevier, vol. 179(C).
    3. Zhang, Yan-Tao & Hu, Mao-Bin & Chen, Yu-Zhang & Shi, Cong-Ling, 2023. "Cooperative platoon forming strategy for connected autonomous vehicles in mixed traffic flow," Physica A: Statistical Mechanics and its Applications, Elsevier, vol. 623(C).
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