Robust H∞ control of cooperative driving system with external disturbances and communication delays in the vicinity of traffic signals

Considering vehicle dynamics and external disturbances, cooperative driving system of homogeneous vehicles is investigated in the vicinity of traffic signals under V2X. This paper analyzes vehicle dynamics and dynamic response performance and investigates the topology structures between vehicles and vehicles and roadside infrastructures. A cooperative driving model with external disturbances and communication delays is proposed for homogeneous vehicles. By using Lyapunov–Krasovskii stability theory, we investigate the robust analysis of the proposed model which is represented by the form of linear matrix inequality. The distributed robust H∞ control strategy is designed to suppress the impact of external disturbance. The validity and feasibility of the proposed control strategy is verified by simulation experiments, which has the great potential to improve speed tracking performance and fuel efficiency.