Robust Control for the Mixed Platoon with Polytopic Uncertainties, Delay and Packet Dropout

This paper proposes a controller for the mixed platoon with connected autonomous vehicles (CAVs) and human-driven vehicles (HDVs), which fully considers the functional differences between CAVs and HDVs. The delays and packet dropout of vehicles are also taken into account. To describe the uncertainties in vehicle parameters, a system with polytopic uncertainties is used to model the mixed platoon, and an adaptive robust gain-scheduling controller is designed to attenuate external disturbances. A sufficient condition is obtained so that the platoon system can be robust mean-square stable. Numerical simulation results confirm the validity of the proposed control scheme in stabilizing mixed platoon and suppressing disturbances.