Prescribed Performance Platoon Control Based on ESO

Connected and automated vehicles (CAVs) play a leading role in intelligent transportation systems because they can improve traffic safety and efficiency and reduce environmental pollution (Li et al. 2023; Zhang et al. 2022; Song and Ding 2023). The vehicle platoon control is substantially divided into longitudinal control, lateral control, and their combination. The longitudinal control has been widely used in the implementation of vehicle platoon control over the past decades. Constant distance policy (CDP) (Zhu and Zhu 2018; Xiao et al. 2022; Besselink and Johansson 2017) and constant time-headway policy (CTHP) (Rezaee et al. 2024; Guo et al. 2018; Li et al. 2023) are the most common spatial policies, which relate to the distance between the front vehicle and the rear vehicle in the vehicle platoon. The desired distance between vehicle-to-vehicle with CDP and CTHP is independent and dependent on the velocity and time, respectively. CDP has a significant physical attribute, which is its practical and feasible role in improving traffic capacity and efficiency.