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This paper is about obtaining stable vehicle platooning by using CooperativeAdaptive Cruise Control when the communication is unreliable and suffers frommessage losses. We model communication losses as independent random events andwe propose an original design for the cooperative controller, which mitigatesthe effect of losses. This objective is obtained by a switching controller thathas a twofold objective: on the one hand, it promotes both plant stability andstring stability of the average error dynamics by an $H_infty$ approach, and onthe other hand it minimizes the variance around the average. We show bysimulations that the proposed controller is able to compensate even for highprobability of losses.

Stochastic String Stability of Vehicle Platoons via Cooperative Adaptive Cruise Control with Lossy Communication