Static Output-Feedback LQR Control for Predecessor-Leader Following Vehicle Platooning With Energy Efficiency Analysis via Aerodynamic Drag Reduction

Vehicle platooning represents a significant advancement in intelligent transportation systems, with the potential to optimize traffic flow, enhance road safety, and reduce energy consumption. By enabling vehicles to travel in close formation, platooning reduces aerodynamic drag, which translates into significant energy savings. This paper proposes a static output-feedback linear quadratic regulator (LQR) control strategy for vehicle platooning under the predecessor-leader following (PLF) topology. The controller is designed in a decentralized manner using only local output measurements, ensuring scalability and robustness while eliminating the need for full-state information on the platoon status. The controller design is formulated as a linear matrix inequality (LMI) optimization problem that ensures closed-loop stability and robustness in the vehicle platoon under Lyapunov andH∞criteria. The simulation results demonstrate that the proposed approach enhances traffic flow and achieves up to 25% energy savings in a platoon composed of five follower vehicles, in comparison with adaptive cruise control (ACC). It matches the performance of model predictive control (MPC)-based cooperative ACC (CACC) solutions, but with considerably lower computational and communication demands, as the proposed controller is designed offline. The results demonstrate the efficacy of static output feedback control approaches as a practical and energy-aware solution for real-time vehicle platoon control.