Robust cruise control of heterogeneous connected vehicle systems

This paper addresses cruise control of heterogeneous connected human driven vehicle systems. Firstly, from the aspect of control theory, a new state space model of cruise control system is established, which includes time-varying delays caused by driver reaction delays, feedback delays and wireless vehicle-to-vehicle communication delays. Then, a robust cruise controller is designed based on the H∞ control approach with linear matrix inequality (LMI), and the stability of the closed-loop system is analyzed by using the Lyapunov-Krasovskii approach. Finally, the effectiveness of the proposed controller is verified through simulation.