Robust H∞ control of heterogeneous connected vehicles platoon with random time-varying communication delay

As an essential component of intelligent transportation systems (ITS), connected cruise control (CCC) has attracted much attention due to its potential to improve vehicle safety and reduce traffic congestion. However, besides the disturbance acting on the head vehicle of the platoon, the time-varying communication delay in vehicle-to-vehicle (V2V) also seriously impacts the CCC system's stability. In this paper, we investigate a robust control scheme utilizing the Lyapunov-Krasovskii functional stability theory and H-infinity technique to ensure the stability of the CCC system consisting of the connected and automated vehicle (CAV) and connected human-driven vehicles (CHVs) under random time-varying communication delay. The effectiveness and advantage of the designed robust controller are verified by MATLAB/Simulink simulation and comparison with the existing result of the literature.