Mesoscopic Controller for String Stability of Platoons With Disturbances

This article exploits macroscopic information for the control of autonomous vehicles in platoon formation in case of external disturbances. The use of such information leads to smoother platooning. A mesoscopic controller is proposed, and disturbance string stability is proven through input-to-state stability concepts. Simulations prove the efficacy of the proposed approach by showing its robustness with respect to the presence of perturbations acting on the platoon vehicles.