A Gain-Scheduled Robust H∞ Control for a Mixed Traffic System Travelling at Different Desired Speeds in the Presence of Delay

In this paper, a mixed platoon on an openroad is studied, that includes one connected and automated vehicle (CAV) and multiple human-driven vehicles (HDVs). We represent the car-following behavior of HDVs by the optimal velocity model (OVM), while considering the driver reaction time as a delay in their dynamics. Also, we assume that the changes of traffic conditions result in a time-varying desired velocity. Considering a varying desired speed, reaction time delay, and parametric uncertainties in the HDV dynamics, a gain-scheduled robust H
∞
control strategy is developed, that can stabilize the traffic flow in the presence of undesired perturbations. We indicate the efficiency of the proposed static output-feedback controller through simulation results.