Safe Platooning under Input Constraints with Link-Wise Velocity String Stability

Abstract

We propose a decentralized controller for vehicle platoons with different braking and propulsion limits. The method uses only local distance and velocity measurements and requires neither online optimization nor exact vehicle parameters. The design combines a braking-distance safety margin with an adaptive funnel that relaxes the spacing requirement during propulsion saturation. A standstill mechanism prevents backward motion and supports stop-and-go operation. Under explicit uniform conditions on the vehicle parameters, controller settings, and initial states, we prove that closed-loop solutions exist for all time, collisions are avoided, and input limits are satisfied. Moreover, each follower tracks its predecessor's velocity range with gain one, up to an explicit additive offset determined by the funnel width and the braking-distance term. This bound establishes link-wise velocity string stability. Both the offset and the bounds on speeds and spacing errors are independent of vehicle index and platoon length. Simulations with 2 to 100 followers illustrate safety and bounded velocity deviations under disturbances and actuator limits.