Leader Tracking in Constant Spacing Policy with parasitic delays and lags

In the paper, the effect of the actuator lag and communication delays on the stability of a vehicle platoon, which adopts a constant spacing policy and predecessor-leader following type information flow is discussed. While using spacing error transfer function, we analyzed the string stability in frequency domain, and the upper bounds on the allowable parasitic lag and communication delays could be confirmed. Also, With the larger post-sequence delay, the limited string scalability would be shown by the communication delay of the leader.