A connected vehicle platoon with unknown input delays is studied in this article. The control objective is to stabilize the connected vehicles, ensuring all vehicles are traveling at the same speed while maintaining a safety spacing. A decentralized control law using only onboard sensors is designed for the connected vehicle platoon. A novel switching-type delay-adaptive predictor is proposed to estimate the unknown input delays. By using the estimated unknown input delays, the control law can guarantee the stability of the successive vehicles. The platoon control adopts a one-vehicle look-ahead topology structure and a constant time headway (CTH) policy, which makes the desired spacing between vehicles vary with time. In this framework, the stability of the connected vehicles can be derived through the analysis of each pair of two successive vehicles in the platoon. Finally, an example is presented to illustrate the applicability of the obtained results.

中文翻译：

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具有未知输入延迟的联网车辆排的自适应切换控制


本文研究了具有未知输入延迟的联网车辆排。控制目标是稳定联网车辆，确保所有车辆以相同的速度行驶，同时保持安全间距。仅使用车载传感器的分散控制法是为联网车辆排设计的。提出了一种新颖的开关型延迟自适应预测器来估计未知的输入延迟。通过使用估计的未知输入延迟，控制律可以保证连续车辆的稳定性。队列控制采用单车前瞻拓扑结构和恒定车头时距（CTH）策略，使得车辆之间的期望间距随时间变化。在此框架中，可以通过分析排中每对两辆连续车辆来得出联网车辆的稳定性。最后，给出一个例子来说明所得结果的适用性。