Predictor-Based cooperative adaptive cruise control of vehicular platoons with actuation and communication delays Predictor-Based cooperative adaptive cruise control of vehicular platoons with actuation and communication delays Διδακτορική Διατριβή Doctoral Dissertation 2025-10-072025enTraffic flow efficiency and safety can be significantly improved via Cooperative Adaptive Cruise Control (CACC) of vehicular platoons. One critical property in vehicle platooning is string stability, which is essential for ensuring both safety and efficiency. String stability serves as a key indicator of how efficiently disturbances are attenuated as they propagate upstream in a platoon. However, the benefits of string (and vehicle) stability may be compromised in the presense of delays in actuation, sensing, or communication. This research aims to develop predictor-based CACC designs to compensate the negative effects of long actuation and communication delays in vehicular platoons. The proposed control design framework is applied to heterogeneous vehicular platoons, where each vehicle’s dynamics are modeled by a third-order linear system with input delay. For each design we develop, we establish vehicle stability, string stability, and tracking of the desired speed/spacing. The proofs of individual vehicle stability, string stability, and regulation rely mainly on employment of an input-output approach on the frequency/time domains. We present consistent simulation results, including validations with real traffic data. We further provide experimental validation results, in a pair of vehicles, of one of our predictor-based CACC designs.PhD Thesis submitted to the School of Electrical and Computer Engineering of the Technical University of Crete to fulfill the requirements for obtaining the PhD Degree. This work 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). Co-funded by the European Union (ERC, C-NORA, 101088147). Views and opinions expressed are however those of the authors only and do not necessarily reflect those of the European Union or the European Research Council. Neither the European Union nor the granting authority can be held responsible for them.http://creativecommons.org/licenses/by/4.0/Πολυτεχνείο Κρήτης::Σχολή Ηλεκτρολόγων Μηχανικών και Μηχανικών ΥπολογιστώνAmirhossein Samii_PhD_2025.pdfChania [Greece]Library of TUC2025-10-08application/pdf18.0 MBfree Samii Amirhossein Samii Amirhossein Bekiaris-Liberis Nikolaos Μπεκιαρης-Λυμπερης Νικολαος Koutroulis Eftychios Κουτρουλης Ευτυχιος Spyropoulos Thrasyvoulos Σπυροπουλος Θρασυβουλος Lagoudakis Michail Λαγουδακης Μιχαηλ Santini Stefania Charalambous Themistoklis Wang Meng Πολυτεχνείο Κρήτης Technical University of Crete Control and systems engineering