Observer-based Control for Vehicle Platooning with a Leader of Varying Velocity

Wei Jiang, Elham Abolfazli, Themistoklis Charalambous

Research output: Chapter in Book/Report/Conference proceedingConference article in proceedingsScientificpeer-review

3 Citations (Scopus)


This paper studies the internal stability and string stability of a vehicle platooning with a varying-velocity leader using a multiple-predecessor following strategy via vehicle-to-vehicle communication. Unlike the common case in which the leader’s velocity is constant and different kinds of PID controllers are implemented, in this case, the fact that the leader has a velocity that varies over time, necessitates the design of an observer. First, in order to estimate the position, velocity and acceleration error between the follower and the leader, an observer is designed whose parameters are the entries of a matrix. The matrix format of the observer is later reduced to a specific observer parameter matrix form. This new observer turns out to have a third order integrator dynamics, which is used to generate the parameter conditions to guarantee the string stability. Additionally, instead of a typical PID controller, an observer-based controller is developed which only needs local information. The effectiveness of the proposed observer and controller is demonstrated via an illustrative example.
Original languageEnglish
Title of host publication2021 European Control Conference (ECC)
Number of pages8
ISBN (Electronic)978-94-6384-236-5
ISBN (Print)978-1-6654-7945-5
Publication statusPublished - Jan 2022
MoE publication typeA4 Conference publication
EventEuropean Control Conference - Delft, Netherlands
Duration: 29 Jun 20212 Jul 2021
Conference number: ECC


ConferenceEuropean Control Conference
Abbreviated titleECC


  • Stability criteria
  • Vehicular ad hoc networks
  • String stability
  • Observers
  • Varying-velocity leader
  • Error correction codes
  • Vehicle platooning


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