Robust longitudinal and lateral control for mixed-vehicular platoons with string stability guarantees
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11071_2025_11580_ReferencePDF.pdf
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Author(s)
Chen, Qien
Wang, Shimin
Gao, Bolin
Zhan, Zhi
Zhong, Renxin
Date Issued
July 16, 2025
Journal
Nonlinear Dynamics
Publisher
Springer Netherlands
Citation
Chen, Q., Wang, S., Gao, B. et al. Robust longitudinal and lateral control for mixed-vehicular platoons with string stability guarantees. Nonlinear Dyn 113, 27853–27875 (2025).
Version
Author's final manuscript
Abstract
Integrating longitudinal and lateral controls for vehicular platoons mixed with Connected and Autonomous Vehicles (CAVs) and Level-2 Automated Vehicles (L2AVs) to guarantee string stability against model uncertainty and external disturbances is essential yet challenging. This paper tackles this challenge by introducing a novel integrated longitudinal and lateral control (ILLC) strategy that guarantees input-to-state string stability (ISSS) for heterogeneous vehicular platoons. The proposed ILLC strategy significantly enhances the robustness of vehicular platoons by maintaining the desired headway and ensuring the ISSS against disturbances. By incorporating a disturbance observer, we directly address the disturbance estimation error within the string stability analysis. We validate the effectiveness of our method through simulations of various traffic scenarios. Compared to conventional cooperative adaptive cruise control (CACC) techniques, the proposed method achieves faster convergence to the desired states and exhibits bounded state fluctuations. Furthermore, our method can effectively attenuate external disturbances and dissipate stop-and-go waves.
MIT Department
Massachusetts Institute of Technology. Department of Chemical Engineering
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Article is made available in accordance with the publisher's policy and may be subject to US copyright law. Please refer to the publisher's site for terms of use.
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DOI of Published Version
https://doi.org/10.1007/s11071-025-11580-8
