Robustness of string stability to delay mismatch and safety of CTH predictor-feedback CACCRobustness of string stability to delay mismatch and safety of CTH predictor-feedback CACC Πλήρης Δημοσίευση σε Συνέδριο Conference Full Paper 2024-08-222022enFor the predictor-feedback Cooperative Adaptive Cruise Control (CACC) design for homogenous platoons, recently developed by Davis, we establish robustness of string stability to delay mismatch and positivity of spacing and speed states. Each individual vehicle’s dynamics are described by a second-order linear system with delayed desired acceleration, under acceleration information transmitted to the ego vehicle from a single, preceding vehicle. The nominal design (in the delay-free case) is a constant time-headway (CTH) policy and no restriction on the delay size, in relation with the desired time headway, is imposed. The proofs rely on combination of an input-output approach (on the frequency domain) and on deriving estimates on explicit, closed-loop solutions; under specific, sufficient conditions that are derived on initial conditions and parameters of the baseline, CTH controller.The research in this paper was supported by the Hellenic Foundation for Research and Innovation (H.F.R.I.) under the “2nd Call for H.F.R.I. Research Projects to Support Faculty Members & Researchers” (Project Number: 3537/ORAMA).http://creativecommons.org/licenses/by/4.0/820-8252022 IEEE 61st Conference on Decision and ControlProceedings of the 2022 IEEE 61st Conference on Decision and Control Bekiaris-Liberis Nikolaos Μπεκιαρης-Λυμπερης Νικολαος Institute of Electrical and Electronics Engineers Linear systems Sufficient conditions Frequency-domain analysis Robustness Delays Safety Vehicle dynamics