Driving as a platoon has potential to significantly benefit traffic capacity and safety. To generate more identical dynamics of nodes for a platoon of automated connected vehicles (CAVs), this chapter presents a robust acceleration controller using a multiple model control structure. The large uncertainties of node dynamics are divided into small ones using multiple uncertain models, and accordingly multiple robust controllers are designed. According to the errors between current node and multiple models, a scheduling logic is proposed, which automatically selects the most appropriate candidate controller into loop. Even under relatively large plant uncertainties, this method can offer consistent and approximately linear dynamics, which simplifies the synthesis of upper level platoon controller. This method is validated by comparative simulations with a sliding model controller and a fixed H∞ controller.
Part of the book: Autonomous Vehicle