Stability Analysis of Connected Automated Vehicle Platoon Controller Under Unreliable Communication Conditions.

The paper investigates the longitudinal control problem of a connected automated vehicle (CAV) platoon operating under the multiple-predecessor following (MPF) topology, while considering unreliable communication circumstances characterized by random packet loss and heterogeneous time-varying delay. To model random packet loss, a Bernoulli probabilistic distribution is employed, where the packet loss rate is influenced by the communication distance. A linear feedback controller is then developed to handle such packet loss and delay. The sufficient conditions for the asymptotic stability of the platoon controller are derived using linear matrix inequalities and a Lyapunov-based approach. The delay margin condition is obtained, which is associated with the packet loss rate and the number of consecutive packet losses. The string stability of the platoon with delay and packet loss is also analyzed by the transfer function. Simulation experiments demonstrate that the proposed method approach effectively maintains the stability of the platoon in the presence of delay and packet loss.