String-Stable CACC Design and Experimental Validation: A Frequency-Domain Approach

  title={String-Stable CACC Design and Experimental Validation: A Frequency-Domain Approach},
  author={Gerrit J. L. Naus and Ren{\'e} P. A. Vugts and Jeroen Ploeg and Ren{\'e} van de Molengraft and Maarten Steinbuch},
  journal={IEEE Transactions on Vehicular Technology},
The design of a cooperative adaptive cruise-control (CACC) system and its practical validation are presented. Focusing on the feasibility of implementation, a decentralized controller design with a limited communication structure is proposed (in this case, a wireless communication link with the nearest preceding vehicle only). A necessary and sufficient frequency-domain condition for string stability is derived, taking into account heterogeneous traffic, i.e., vehicles with possibly different… CONTINUE READING
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