Backstepping-based time-gap regulation for platoons

Fang Chieh Chou, Shu Xia Tang, Xiao Yun Lu, Alexandre Bayen

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

4 Scopus citations


The time-gap regulation problem for a cascaded system consisting of platooned automated vehicles following a leading non-automated vehicle is investigated in this article. Under the assumption of uniform boundedness of the acceleration of the leading vehicle, a control design scheme is proposed via an extension of integral backstepping control method, where additional terms that counter the impact due to the speed change of the non-automated vehicle are used. Each automated vehicle is actuated by one backstepping controller, demonstrated by a recursive control design procedure based on induction. As a result, both the time-gap error and the speed error between each pair of consecutive vehicles are proven to be ultimately bounded by some constants that can be tuned to be arbitrarily close to zero. In particular, the regulated time-gap guarantees enough time for the following vehicle in each pair to react to the velocity change of its preceding vehicle. Simulation is carried out to validate the proposed controllers.

Original languageEnglish
Title of host publication2019 American Control Conference, ACC 2019
PublisherInstitute of Electrical and Electronics Engineers Inc.
Number of pages6
ISBN (Electronic)9781538679265
StatePublished - Jul 2019
Event2019 American Control Conference, ACC 2019 - Philadelphia, United States
Duration: Jul 10 2019Jul 12 2019

Publication series

NameProceedings of the American Control Conference
ISSN (Print)0743-1619


Conference2019 American Control Conference, ACC 2019
Country/TerritoryUnited States


  • Backstepping
  • Induction
  • Platoon
  • Time-gap regulation


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