Stability Analysis for Heterogeneous Vehicle Platoon in A Zero-Trust Environment

This work focuses on the constant time-distance platoon control problem of heterogeneous vehicle platoons in a zero-trust environment. The tracking error dynamics of each vehicle are constructed, and a constant time distance strategy based on the trust degree between vehicles is established in the zero-trust environment. Moreover, the asymptotic stability of the vehicle platoon when the communication topology is LPF is guaranteed. In addition, the precise feedback linearization technique is used to convert the vehicle dynamics model into a third-order linearization model, and the communication topology between vehicles is described using a directed graph. In particular, by designing a distributed controller, combined with directed graph and Routh-Hurwitz stability theorem, the stability condition of the gain of the distributed controller affected by trust under the LPF communication topology is proved. Finally, the obtained results are verified by numerical simulation.