H∞ Control for Vehicle Strings Considering Input Saturation

Abstract

An [Formula: see text] feedback control considering input saturation is proposed for the string stability control problem of vehicles. The longitudinal dynamics model of the string is established, and the system is modeled as a linear system with disturbances according to the relationship among the variable distance, the constant headway, the communication mode among vehicles, and the communication delay. The string stability condition is converted into an input saturation constraint problem, which in turn is converted into a linear system control problem with disturbances and input saturation. The designed [Formula: see text] controller has strong robustness to disturbances, and has the function of input limited, which ensures the stability of the string. The simulation results show that the designed controller can achieve the goal of the stability of the main vehicles following the lead vehicle for both homogeneous and heterogeneous strings.