The performance and effectiveness of a vehicle platoon rely on the topology of information flow and quality of communications, such as delays and dropouts. In this paper, we investigate the homogeneous and constant-time-headway-spacing-policy-based vehicle platoon longitudinal control problem, where communication impairments including the limited communication range, random packet losses, and time-varying communication delays are considered. Here, internal stability characterizes the system stability without disturbance while string stability is concerned with the error amplification when the vehicle platoon is affected by external disturbances. First, for the case when each vehicle utilizes the position, velocity, and acceleration information of multiple preceding and following vehicles, we obtain sufficient conditions to guarantee the internal stability of the vehicle platoon system based on the stability of matrix polynomials and the matrix eigenvalue perturbation theory. Then, considering random packet losses, we find that the effectiveness of platoon control relies on the frequency of packets being successfully received, or the delay till a new packet is received. We also obtain the upper bound for delays on all communication links such that the internal stability of the vehicle platoon can still be maintained when time-varying communication delays are within the bound. The $L_2$ -string stability is also analyzed through the transfer function for both ideal communication cases, and cases with uniform and constant delays. Extensive simulink-based numerical results validate our analysis, which reveals how communication impairments affect platoon control with a realistic information flow topology.

中文翻译：

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非理想通信网络的汽车排

车辆排的性能和有效性取决于信息流的拓扑结构和通信质量，例如延迟和丢失。在本文中，我们研究了基于均匀和恒定时距间隔策略的车辆排纵向控制问题，该问题考虑了包括通信范围有限，随机分组丢失和时变通信延迟在内的通信障碍。在此，内部稳定性是无干扰时系统稳定性的特征，而当车辆排受到外部干扰时，弦的稳定性与误差放大有关。首先，对于每辆车都利用多个前后车辆的位置，速度和加速度信息的情况，基于矩阵多项式的稳定性和矩阵特征值摄动理论，我们获得了充分的条件来保证车辆排系统的内部稳定性。然后，考虑到随机数据包丢失，我们发现排控制的有效性取决于成功接收数据包的频率，或直到收到新数据包的延迟。我们还获得了所有通信链路上的延迟上限，以便当时变通信延迟在边界之内时，仍可以保持车辆排的内部稳定性。这 我们发现，排控制的有效性取决于成功接收数据包的频率，或延迟直到接收到新数据包为止。我们还获得了所有通信链路上的延迟上限，以便当时变通信延迟在边界之内时，仍可以保持车辆排的内部稳定性。这 我们发现，排控制的有效性取决于成功接收数据包的频率，或延迟直到接收到新数据包为止。我们还获得了所有通信链路上的延迟上限，以便当时变通信延迟在边界之内时，仍可以保持车辆排的内部稳定性。这$ L_2 $ 还通过传递函数分析了理想通信情况以及具有均匀和恒定延迟的情况下的弦稳定性。基于大量基于Simulink的数值结果验证了我们的分析，这揭示了通信障碍如何影响具有现实信息流拓扑的排控制。