Sampled-Data Cooperative Adaptive Cruise Control of Vehicles With Sensor Failures

This paper investigates sampled-data cooperative adaptive cruise control (CACC) of vehicles with sensor failures. A novel switched sampled-data CACC system model is established, in which the effect of sensor failure is involved. Based on the new model, a design method of state feedback controllers that can robustly stabilize the CACC system is presented via the switched system approach. The obtained controller is complemented by additional conditions that are established for guaranteeing string stability and zero steady-state velocity error, which yields a useful string stable CACC algorithm. Several quantitative relations of parameters, including the sensor complete-failure rate, the system decay rate, and sampling period, are also derived. The effectiveness and advantage of the presented methodology are demonstrated by both numerical simulations and experiments with laboratory-scale Arduino cars.