A Mixed H2/H∞ Controller Design for a Platoon with Multiple Human-Driven and Connected and Automated Vehicles

In this paper, we analyze a mixed platoon consisting of multiple human-driven vehicles (HDVs) and a number of connected and automated vehicles (CAVs). The platoon is assumed to travel along a single-lane ring-road, with the CAVs uniformly distributed among the other vehicles and directly controlled by a centralized cooperative control strategy. Our primary objective is to develop a mixed $H_{2}/H_{\infty}$ control strategy capable of stabilizing traffic flow in the presence of undesired disturbances and noises. Furthermore, we demonstrate the efficacy of the proposed control method for various penetration rates of CAVs through numerical simulations.