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String Stable Integral Control of Vehicle Platoons with Actuator Dynamics and Disturbances

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Document pages: 6 pages

Abstract: This paper presents the design of an integral controller for vehicle platoonswith actuator dynamics. The proposed controller ensures string stability withdisturbances and simultaneously compensates for constant disturbances throughintegral action. Sufficient conditions for string stability are satisfied bythe use of a suitable state transformation. The proposed controller guaranteesdisturbance string stability for a prescribed time constant of the actuatordynamics, and we show through simulation that platoons with faster dynamics arealso made disturbance string stable.

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