Zero-Trust Formation Cooperative Control for Intelligent Connected Vehicles with Communication Delays and Continuous Multivariate Disturbances

The challenging problem of intelligent connected vehicle formation control under a zero-trust communication network with communication delay and persistent complex disturbances is addressed in this study, which proposes a cooperative control method based on a leader-follower system. Firstly, a system model is established using vehicle longitudinal dynamics, with a class of intermediate estimation observers being designed to track the states of follower vehicles and external disturbances in real time. Secondly, consensus control protocols are proposed for the leader-follower system, and a set of linear matrix inequalities is formulated based on Lyapunov theory and error variables to determine the system stability conditions, ensuring formation consistency. Finally, simulation verification is conducted using Matlab with actual parameters, validating the feasibility and robustness of the system in the presence of communication delay and disturbances, thereby providing a method and support for cooperative control of intelligent connected vehicle formations.