Lyapunov-Krasovskii functionals for evaluating H∞ performance of platoons of communicating vehicles

A time-domain analysis of robust string stability is carried out for finite length vehicular platoons, where disturbances and constant delays in the inter-vehicle communication are present. The goal of the paper is to compare and evaluate the accuracy and computational cost of several Lyapunov-Krasovskii functional (LKF)-based methods. The proposed approach can be extended to cope with time-varying delays, large scale systems, vehicle model uncertainties and platoon heterogeneity. Simple delay-independent, delay-dependent and discretized complete LKF-based performance criteria are presented and demonstrated on a platoon with predecessor and leader following control architecture.