Platooning of Car-Like Vehicles in Urban Environments: Longitudinal Control Considering Actuator Dynamics, Time Delays, and Limited Communication Capabilities

This brief proposes a longitudinal control framework for platooning in an urban environment. The targeted application is to redistribute vehicles involved in car-sharing systems, where only the leader vehicle is human-driven. We propose a platoon model and control law considering actuator dynamics. This control relies on a hybrid information flow topology (IFT), where the leader broadcasts its sta...