Robust Dynamic Output Feedback Controller Synthesis for Cooperative Adaptive Cruise Control

In this paper, it is shown that the problem of finding a decentralized dynamic output feedback cooperative adaptive cruise controller (CACC controller) can equivalently be formulated as a robust control problem. It is shown that the internal dynamics are rendered globally asymptotically stable by a CACC controller if the states of the predecessing vehicle are regarded as disturbances. Furthermore, the decoupling of the input of the predecessor from the spacing error can be regarded as the minimization of the H_∞ norm of the transfer function from u_i-1 to the spacing error. These observations result in the formulation of an H_∞ problem and dynamic output feedback controller that solve this H_∞ problem can be synthesized using LMI techniques. Finally, the results are illustrated through simulations.