Robust control for cooperative driving system of heterogeneous vehicles with parameter uncertainties and communication constraints in the vicinity of traffic signals

Taking heterogeneity, internal parameter uncertainties and communication constraints into account, the problem of cooperative driving system of heterogeneous vehicles is studied in the vicinity of traffic signals. This work studies the dynamics of heterogeneous vehicles and response performance from physical perspective and meanwhile analyzes the topology structure and communication constraints between vehicles and roadside equipment from cyber perspective. From the perspective of transportation cyber physical systems, cooperative driving model of heterogeneous vehicles with parameter uncertainties and communication constraints is constructed in the vicinity of traffic signals. We analyze robust stability by adopting Lyapunov-Krasovskii stability theory. According to the limitations of heterogeneity, dynamic uncertainties, communication delays and packet loss, the robust control strategies are proposed by using LMI (linear matrix inequality) method. Through theoretical analysis and numerical simulation, the validity and feasibility of research results are verified, which provides the guidance of control strategies for suppressing traffic congestion.