Robust <mml:math xmlns:mml="http://www.w3.org/1998/Math/MathML"> <mml:mrow> <mml:msub> <mml:mi>H</mml:mi> <mml:mrow> <mml:mi>∞</mml:mi> </mml:mrow> </mml:msub> </mml:mrow> </mml:math> MPC method for heterogeneous CACC system with communication delay

Abstract This study proposes a robust <mml:math xmlns:mml="http://www.w3.org/1998/Math/MathML" overflow="scroll"> <mml:mrow> <mml:msub> <mml:mi>H</mml:mi> <mml:mrow> <mml:mi mathvariant="normal">∞</mml:mi> </mml:mrow> </mml:msub> </mml:mrow> </mml:math> -model predictive control cooperative adaptive cruise control framework for heterogeneous vehicle platoons addressing communication delays and parametric uncertainties. Key innovations include: (1) A distributed architecture enabling real-time computational feasibility through linear matrix inequality solutions; (2) Integration of safety, tracking precision, passenger comfort, and communication reliability via S-procedure-based asymmetric input constraints Validated through Prescan-Simulink co-simulations, the controller demonstrates delay compensation efficacy across three scenarios: normal cruise, traffic light-induced platoon disassembly/reassembly, and external vehicle merging. The method reduces spacing oscillations by 41% compared to intelligent driver model baselines while maintaining string stability under 1.0 s V2X delays, while also outperform a pure <mml:math xmlns:mml="http://www.w3.org/1998/Math/MathML" overflow="scroll"> <mml:mrow> <mml:msub> <mml:mi>H</mml:mi> <mml:mrow> <mml:mi mathvariant="normal">∞</mml:mi> </mml:mrow> </mml:msub> </mml:mrow> </mml:math> control by faster catch up in disrupted scenarios.