Co-design of controller and communication topology for vehicular platooning

A. Firooznia, J. Ploeg, N. van de Wouw, H.J. Zwart

Research output: Contribution to journalArticleAcademicpeer-review

37 Citations (Scopus)
134 Downloads (Pure)


Small inter-vehicle distances can increase traffic throughput on highways. Human drivers are not able to drive safely under such conditions. To this aim, cooperative adaptive cruise control (CACC) systems have been developed, which require vehicles to communicate with each other through a wireless communication network. By communicating control-relevant information, the vehicles equipped with the CACC system are able to react more quickly to disturbances caused by preceding vehicles and, therefore, are able to maintain the desired (small) inter-vehicle distance while avoiding string instability. String stability relates to the propagation of the effect of disturbance on system states over the vehicle string. Commonly used approaches to design controllers yielding string stability, involve an iterative process requiring an a priori designed controller with a priori defined communication topology. The main contribution of this paper is to propose a synthesis strategy for both local controllers and the communication structure, while guaranteeing string stability for infinite-length vehicular strings. The obtained results are illustrated by model-based case studies.

Original languageEnglish
Pages (from-to)2728-2739
Number of pages12
JournalIEEE Transactions on Intelligent Transportation Systems
Issue number10
Publication statusPublished - 1 Oct 2017


  • optimal control
  • string stability
  • Vehicular strings


Dive into the research topics of 'Co-design of controller and communication topology for vehicular platooning'. Together they form a unique fingerprint.

Cite this