String Stable Integral Control of Vehicle Platoons with Actuator Dynamics and Disturbances

This paper presents the design of an integral controller for vehicle platoons with actuator dynamics. The proposed controller ensures string stability with disturbances and simultaneously compensates for constant disturbances through integral action. Sufficient conditions for string stability are satisfied by the use of a suitable state transformation. The proposed controller guarantees disturbance string stability for a prescribed time constant of the actuator dynamics, and we show through simulation that platoons with faster dynamics are also made disturbance string stable.