Nonlinear Predictor-Feedback Cooperative Adaptive Cruise Control

We construct a nonlinear predictor-feedback Cooperative Adaptive Cruise Control (CACC) design for homogeneous vehicular platoons subject to actuators delays, which achieves: i) positivity of vehicles' speed and spacing states, ii) L-infinity string stability of the platoon, iii) stability of each individual vehicular system, and iv) tracking of a constant reference speed (dictated by the leading vehicle) and spacing. The design relies on a nominal, nonlinear control law, which guarantees i)-iv) in the absence of actuator delay, and nonlinear predictor feedback. We consider a second-order, nonlinear vehicle model with input delay. The proofs of the theoretical guarantees i)-iv) rely on derivation of explicit estimates on solutions (both during open-loop and closed-loop operation), capitalizing on the ability of predictor feedback to guarantee complete delay compensation after the dead-time interval has elapsed, and derivation of explicit conditions on initial conditions and parameters of the nominal control law. We also present consistent simulation results.