Tube-Based Discrete Controller Design for Vehicle Platoons Subject to Disturbances and Saturation Constraints

Cooperative adaptive cruise control (CACC) is a promising intelligent vehicle technology for improving traffic flow stability, throughput, and safety. One major control objective of CACC is to guarantee Lp string stability, i.e., Lp-norm measured disturbance is uniformly bounded along the vehicle string. Most existing methods for string stability are laborious for implementation without considerin...