Distributed Predecessor-Follower Constrained Platooning Control of Linear Heterogeneous Vehicles

The control of platoons consisting of vehicles with varying characteristics is an area of significant research interest. Among existing platoon architectures, numerous strategies have been explored to leverage inter-vehicle communication for the creation of Cooperative Adaptive Cruise Control (CACC) systems. For instance, applications of the internal model principle to reach synchronization of heterogeneous linear multi-agent systems, that are coupled by diffusive links, has proven to yield high performance results. Yet, for real-world application, one major issue is taking into account input and state constraints while assuring safety requirements. In this paper, a feedback-distributed controller that guarantees synchronization of a heterogeneous vehicle platoon described by linear dynamics is presented. To maintain desired inter-vehicle spacing, a predecessor-follower scheme is utilized. To consider the physical limitations of the vehicles and prevent collisions, safety measures are implemented by applying control barrier functions. Conditions for vehicle stability are provided using a Lyapunov approach. Moreover, string stability properties of the platoon are analyzed. Via simulation, we demonstrate that the proposed control design enables the adoption of a velocity-dependent gap-spacing policy for inter-vehicle distance, for any nonnegative headway. In conclusion, the controller's efficiency is verified through a simulation study.