Exponential mean-square string stability of vehicular platoon with stochastic disturbance and time delay

Platooning is an effective way to reduce air resistance and fuel consumption in vehicular transportation. However, stochastically generated disturbances can significantly impact the string stability of platoons. This article proposes a novel control law, based on sliding mode control and leader-predecessor communications, designed to improve the exponential mean-square string stability of platoons with Ito-type stochastic disturbances that consider friction force. Specifically, our approach employs a third-order nonlinear dynamic model to capture the relevant spatiotemporal correlations present in vehicle platoons. The proposed longitudinal control strategy effectively stabilizes the platoons with time delay and was verified through simulation experimentation. In this study, the stability of sliding mode motion is thoroughly investigated by means of sub-reachable and practical stability analysis with sliding mode control. The findings of this study provide a theoretical foundation for further research on vehicle platoons with increasingly complicated interference and time delays. Overall, our results demonstrate that our approach can achieve significant improvements in both fuel economy and exhaust emissions while maintaining high levels of string stability, further contributing to the development of efficient and sustainable transportation systems.