L2 String Stability of Heterogeneous Platoon under Disturbances and Information Delays

Disturbances and information delays can significantly affect the stability of the vehicle platoon. This paper proposes a robust control algorithm for heterogeneous vehicle platoon under external disturbances and wireless communication delays. By employing the approach of equivalent communication delay and deeming road slop and aerodynamic drag as the external disturbance, the error model of vehicle platoon including delay and interference is established firstly. Then, based on the Lyapunov-Krasovskii theorem and H ∞ control, one robust control method that can relieve the control conservatism is proposed to reduce the effects of delays and disturbances. To guarantee that the proposed controller has the property of string stability, the criterion that conforms to the L 2 stability is presented. A comparative simulation with the traditional string stability controller is applied to prove the effectiveness of raised method.