Connected Vehicle Systems with Nonlinear Dynamics and Time Delays∗

In this paper, we investigate the nonlinear dynamics of connected vehicle systems in presence of time delays, which may arise due to human reaction time and/or due to intermittency and packet drops in wireless communication. Stability conditions are derived by using the Lyapunov-Krasovskii theory. A generalized frequency response function is also developed to characterize the input-output response of nonlinear vehicle networks. Numerical simulations are used to validate the analytical results.