Mistuning-based control design to improve closed-loop stability margin of vehicular platoons

Prabir Barooah, Prashant G. Mehta, Jaõo P. Hespanha

Research output: Contribution to journalArticlepeer-review


We consider a decentralized bidirectional control of a platoon of N identical vehicles moving in a straight line. The control objective is for each vehicle to maintain a constant velocity and inter-vehicular separation using only the local information from itself and its two nearest neighbors. Each vehicle is modeled as a double integrator. To aid the analysis, we use continuous approximation to derive a partial differential equation (PDE) approximation of the discrete platoon dynamics. The PDE model is used to explain the progressive loss of closed-loop stability with increasing number of vehicles, and to devise ways to combat this loss of stability.

Original languageEnglish (US)
Pages (from-to)2100-2113
Number of pages14
JournalIEEE Transactions on Automatic Control
Issue number9
StatePublished - 2009


  • Partial differential equation (PDE)

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Computer Science Applications
  • Electrical and Electronic Engineering


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