Stability analysis of a car platoon with communication delays and headway compensation

A compact representation of a car following model considering the headway and vehicle-to-vehicle (V2V) communication delay is presented. The platoon exponential stability and its robust stability with respect to time-varying matrix perturbations are studied. The analysis is carried out in the time domain, via Lyapunov-Krasovskii functionals depending on the delay Lyapunov matrix. Platoon illustrative examples with three, four and five vehicles show the interest of the approach.