Robust Model Predictive Control Based Cooperative Control of Uncertain Connected Vehicle Platoon Systems

To solve the problem of cooperative control of connected vehicle platoon with parameter uncertainty, this paper proposes a robust model predictive control (RMPC) algorithm which can tolerate the certain parameter uncertainty. A sufficient condition in the form of linear matrix inequalities (LMIs) that guarantees the stability of connected vehicle platoon system with model uncertainty is obtained by using our proposed RMPC algorithm. The optimal feedback control law for the system is obtained by solving some LMIs online at each sampling moment. Finally, the effectiveness of proposed control algorithm is demonstrated through a simulation study of the connected vehicle platoon control system.