Implicit Lyapunov Function-based Formation Control for Heterogeneous Vehicular Platoons with Time Delays

In order to lower the drivers’ driving pressure and improve traffic efficiency, academic and industrial interest in the cooperative adaptive cruise control (CACC) system has been substantial. In this research, we use the Implicit Lyapunov Function (ILF) technique to develop a switching controller for HVPs with temporal delays. The constant time headway strategy is utilized to construct the HVPs error model first. Then, the implicit Lyapunov function is used to develop the switching controller. Finally, the conditions of internal stability and string stability are obtained. The suggested switching controller has been shown to maintain internal and string stability in simulations involving heterogeneous vehicle platoons.