Controller Design and Stabilization of Heterogeneous Vehicular Platoons under Time-Varying Communication and Actuator Delays

Hilal Bingöl

doi:10.33769/aupse.1727467

Controller Design and Stabilization of Heterogeneous Vehicular Platoons under Time-Varying Communication and Actuator Delays

Abstract

Cooperative Adaptive Cruise Control (CACC) enables safe, comfortable driving over short distances among multiple vehicles. One of the essential objectives of the CACC is to achieve vehicle stability in the presence of wireless communication throughout vehicles. Here, time delay is an unavoidable factor that must be accounted for to guarantee vehicle stability. This study presents a novel controller design for CACC systems to guarantee L_2-string stability under time-varying actuator and communication delays. Contrary to most existing work that assumes constant or identical delays, both types of delays are modeled as time-varying and heterogeneous across vehicles. The controller is synthesized using the Lyapunov-Krasovskii approach to handle varying delays effectively. Furthermore, a non-linear vehicle dynamics model is employed, and simulation studies are conducted for a heterogeneous platoon. The results demonstrate that the proposed controller ensures L_2-string stability for each vehicle in the heterogeneous platoon. A comparative analysis with two benchmark studies from the literature reveals that the proposed method requires larger headway-time constants, highlighting the trade-off between enhanced robustness and reduced traffic throughput.

Keywords

References

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Details

Primary Language

English

Subjects

Control Theoryand Applications

Journal Section

Research Article

Authors

Hilal Bingöl ^*
0000-0001-8759-1656
Türkiye

Publication Date

June 30, 2026

Submission Date

June 25, 2025

Acceptance Date

December 22, 2025

Published in Issue

Year 2026 Volume: 68 Number: 1

DOI

https://doi.org/10.33769/aupse.1727467

IZ

https://izlik.org/JA62AC37AT

Cite

RIS / Bibtex

APA

Bingöl, H. (2026). Controller Design and Stabilization of Heterogeneous Vehicular Platoons under Time-Varying Communication and Actuator Delays. Communications Faculty of Sciences University of Ankara Series A2-A3 Physical Sciences and Engineering, 68(1), 11-37. https://doi.org/10.33769/aupse.1727467

AMA

1.Bingöl H. Controller Design and Stabilization of Heterogeneous Vehicular Platoons under Time-Varying Communication and Actuator Delays. Commun.Fac.Sci.Univ.Ank.Series A2-A3: Phys.Sci. and Eng. 2026;68(1):11-37. doi:10.33769/aupse.1727467

Chicago

Bingöl, Hilal. 2026. “Controller Design and Stabilization of Heterogeneous Vehicular Platoons under Time-Varying Communication and Actuator Delays”. Communications Faculty of Sciences University of Ankara Series A2-A3 Physical Sciences and Engineering 68 (1): 11-37. https://doi.org/10.33769/aupse.1727467.

EndNote

Bingöl H (June 1, 2026) Controller Design and Stabilization of Heterogeneous Vehicular Platoons under Time-Varying Communication and Actuator Delays. Communications Faculty of Sciences University of Ankara Series A2-A3 Physical Sciences and Engineering 68 1 11–37.

IEEE

[1]H. Bingöl, “Controller Design and Stabilization of Heterogeneous Vehicular Platoons under Time-Varying Communication and Actuator Delays”, Commun.Fac.Sci.Univ.Ank.Series A2-A3: Phys.Sci. and Eng., vol. 68, no. 1, pp. 11–37, June 2026, doi: 10.33769/aupse.1727467.

ISNAD

Bingöl, Hilal. “Controller Design and Stabilization of Heterogeneous Vehicular Platoons under Time-Varying Communication and Actuator Delays”. Communications Faculty of Sciences University of Ankara Series A2-A3 Physical Sciences and Engineering 68/1 (June 1, 2026): 11-37. https://doi.org/10.33769/aupse.1727467.

JAMA

1.Bingöl H. Controller Design and Stabilization of Heterogeneous Vehicular Platoons under Time-Varying Communication and Actuator Delays. Commun.Fac.Sci.Univ.Ank.Series A2-A3: Phys.Sci. and Eng. 2026;68:11–37.

MLA

Bingöl, Hilal. “Controller Design and Stabilization of Heterogeneous Vehicular Platoons under Time-Varying Communication and Actuator Delays”. Communications Faculty of Sciences University of Ankara Series A2-A3 Physical Sciences and Engineering, vol. 68, no. 1, June 2026, pp. 11-37, doi:10.33769/aupse.1727467.

Vancouver

1.Hilal Bingöl. Controller Design and Stabilization of Heterogeneous Vehicular Platoons under Time-Varying Communication and Actuator Delays. Commun.Fac.Sci.Univ.Ank.Series A2-A3: Phys.Sci. and Eng. 2026 Jun. 1;68(1):11-37. doi:10.33769/aupse.1727467