Distributed control of vehicle platoon system

Distributed control method of vehicle platoon system was investigated based on the model of interconnected system. The multiple vehicle platoon system is modeled as a multidimensional spatially interconnected system by introducing spatial variables and spatial shift operators. Distributed output feedback H_∞ controllers which have the same structure as the plants are designed to ensure that the whole platoon system is well-posed, stable and robust to exogenous disturbance. The controllers are obtained in terms of linear matrix inequalities. The control performance is validated on MATLAB software, and the simulation results of three mobile robots which imitate the vehicle platoon demonstrating the correctness of the model and effectiveness of the method.