Rapid Convergence Control Strategy of Follower Vehicles in Cooperative Adaptive Cruise Control Platoons

The analysis of time delays in control signals is of particular importance for control systems operating over wireless communication networks, where communication latency may significantly affect stability and performance. A novel control strategy for cooperative adaptive cruise control systems based on the Lyapunov stability framework is presented. The proposed approach exploits the properties of homogeneous systems to achieve rapid convergence to the desired equilibrium state while ensuring the maintenance of a safe inter-vehicle distance within a vehicle platoon equipped with cooperative adaptive cruise control. Simulation results demonstrate that the proposed control approach achieves faster convergence and improved overall system performance compared with benchmark controllers, including conventional linear controllers and existing Implicit Lyapunov Function (ILF)-based methods.

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