Stability of Connected Autonomous Vehicle Networks with Commensurate Time Delays

In this paper, we study the stability of Connected Autonomous Vehicle Networks (CAVN) with commensurate time delays under the assumption that communication time delays increase as the distance between the vehicles increases. Two delays are said to be commensurate if their ratio is a rational number. We characterize the maximum range of delay where the system becomes plant stable and carry out string stability analysis. We provide numerical simulation and observe that the stability region in the control gains plane decreases as when commensurate time delays increase.