Extended H∞ Estimation Based Longitudinal Control of Vehicle Platoons with Disturbances

This study focuses on a longitudinal control method for vehicle platoon system with multiple disturbances, including matched lumped disturbance such as external disturbance and parameter inaccessible, as well as mismatched disturbance where the acceleration of the preceding vehicle is unavailable. To this end, the extended H∞ observer is proposed to estimate the disturbances under measurement noise. Derived from the estimation results, a composite controller integrating state feedback and disturbance compensation is developed, ensuring individual and string stability. Finally, illustrating the proposed methods effectiveness and feasibility with numerical simulations.