Digital control for disturbance string stability via a mesoscopic approach and redundant macroscopic measurements

This paper introduces a novel approach for controlling heterogeneous vehicle platoons with connected autonomous vehicles using digital controllers and macroscopic information sharing. The proposed method achieves practical and disturbance string stability despite asynchronous measurements, quantization effects, and redundant information exchange, while offering improved robustness against uncertainties and noise. Simulations illustrate the performances of the proposed controller.