A Distributed H∞ Controller for Vehicle Platoon With the Directed Graph

ABSTRACT This paper revisits the distributed controller design for the platooning of connected vehicles. Recently, the relevant result subjected to the undirected topology has been studied, in the light of the symmetry of the Laplace matrix. It is well known that the same problem is more challenging for the directed topology, since the Laplace matrix ceases to be symmetric. In this paper, the problem is solved by introducing more weighting parameters and setting suitable values for them. Then we show that the introduced weighting parameters lead to a positive effect on performance, and solve the problem of feedback high‐gain. Finally, two numerical simulations and a practical simulation based on the Next Generation Simulation (NGSIM) dataset are applied to illustrate the effectiveness of our method.