Synchronizing Vehicle Platoons: A Distributed Model Reference Control Approach with Input Saturation

Prayitno, Agung and Indrawati, Veronica and Yusuf, Yohanes Gunawan (2025) Synchronizing Vehicle Platoons: A Distributed Model Reference Control Approach with Input Saturation. Engineering Journal, 29 (11). pp. 79-90. ISSN 0125-8281

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Abstract

Developing distributed control for vehicle platoon applications presents significant challenges due to input saturation and the changing velocity of the leader vehicle, which can lead to instability. This study introduces a distributed model reference control strategy designed to synchronize vehicle platoons under an undirected topology while considering input saturation. The approach combines a virtual cooperative tracking error reference model with the actual control dynamics. The virtual model swiftly relays changes in the leader's movement to all platoon members, while the actual controller employs low-gain cooperative feedback control to manage input saturation. Furthermore, the control scheme accounts for potential external disturbances that could impact the stability of the system. Stability analysis indicates that the proposed scheme can achieve synchronization with a bounded residual tracking error in vehicle platooning. The effectiveness of the approach is validated through numerical simulations of a vehicle platoon with eleven vehicles connected in a bidirectional leader topology, providing robust evidence of the control scheme’s practical reliability and effectiveness in real-world scenarios.

Item Type:	Article
Uncontrolled Keywords:	Distributed model reference controller, input saturation, low-gain cooperative feedback control, undirected topology, vehicle platoon
Subjects:	T Technology > TK Electrical engineering. Electronics Nuclear engineering T Technology > TL Motor vehicles. Aeronautics. Astronautics
Divisions:	Faculty of Engineering > Department of Electrical Engineering
Depositing User:	Agung Prayitno 204037
Date Deposited:	05 Jan 2026 07:19
Last Modified:	07 Jan 2026 01:48
URI:	http://repository.ubaya.ac.id/id/eprint/49993

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