The influence of both inter-vehicular communication delays and packet dropouts on platoon control performance is studied. First, the conditions for achieving platoon mean square stability (MSS) are derived for three cases: undirected information flow (UIF) topology with time delays and identical packet losses, general information flow topology (IFT) with time delays and identical packet losses, and general IFT with time delays and non-identical packet losses. These conditions explicitly reveal how packet dropout rates, time delays, and IFT jointly affect vehicular stability. Second, in order to mitigate the impact of time delays and packet dropouts on platoon MSS, some feasible controllers are proposed for each one of the three cases by solving the corresponding modified Riccati inequalities (MRIs). In comparison with existing results, the provided conditions are easily determinable, and the offered controllers are simple to implement, with low computational complexity. Furthermore, they expand upon existing research findings. Finally, simulations are conducted to compare different time delays and packet loss rates, which validate the theoretical discoveries, also demonstrate the robustness and feasibility of the proposed methods using a platoon of passenger cars and realistic vehicle dynamics.

中文翻译：

---

考虑通信延迟和丢包的分布式车辆排控制

研究了车辆间通信延迟和数据包丢失对排控制性能的影响。首先，推导了三种情况下实现排均方稳定性（MSS）的条件：具有时延和相同丢包的无向信息流（UIF）拓扑、具有时延和相同丢包的通用信息流拓扑（IFT）以及具有时间延迟和不相同的数据包丢失的一般 IFT。这些条件明确揭示了丢包率、时间延迟和 IFT 如何共同影响车辆稳定性。其次，为了减轻时间延迟和丢包对排 MSS 的影响，通过求解相应的修正 Riccati 不等式（MRI），为这三种情况中的每一种提出了一些可行的控制器。与现有结果相比，所提供的条件很容易确定，并且所提供的控制器易于实现，计算复杂度低。此外，他们还扩展了现有的研究成果。最后，通过仿真比较不同的时延和丢包率，验证了理论发现，也证明了使用一排客车和实际车辆动力学所提出的方法的鲁棒性和可行性。