Robust Control for the Mixed Vehicular Platoon With Polytopic Uncertainties Under Non-Ideal Communication Environment: A Gain- Scheduling Control-Based Approach

This paper investigates the control scheme for the mixed vehicle platoon with polytopic uncertain parameters. First, by considering vehicles' delays and packet dropout under non-ideal communication environments, a control model is proposed for the mixed platoon with connected autonomous vehicles (CAVs) and human-driven vehicles (HDVs). This model also includes the nonlinear car-following action of CAVs. Besides this, the polytopic-type uncertainty structure is introduced in the proposed mixed platoon model to reflect uncertain vehicle parameters in real platoon systems. Then an adaptive robust gain-scheduling control strategy is developed to attenuate external disturbances. By using the Lyapunov-Krasovskii methods, sufficient conditions are derived to achieve the robust mean-square stability of the mixed platoon system in the presence of polytopic uncertainty. Furthermore, by considering different parameter values of vehicles of the same type, a mixed vehicular platoon control system that integrates both polytopic uncertainty and heterogeneity is constructed, and the corresponding robust control synthesis is also carried out. Finally, the effectiveness of the proposed control scheme in stabilizing the mixed platoon, tracking the leader's state, and suppressing disturbances is validated by conducting numerical simulation experiments.