Robust control of heterogeneous platoon splitting in the weaving area of ring ramp and through lane under V2X environment

This paper proposes a robust split control model for heterogeneous vehicle platoons in weaving areas between ramps and straight lanes, addressing challenges of low safety and dynamic communication environments. The model handles disturbances from physical state and communication structure changes during platoon splitting through two key components: a nonlinear dynamics module capturing lateral, longitudinal, and vertical force variations, and a robust controller that decomposes the judgment matrix into six submatrices via dual-diagonal structure decomposition. By adjusting control gains based on communication graph eigenvalue bounds to ensure submatrix negative definiteness, the model guarantees robustness under worst-case topology evolution. Simulation results demonstrate a 70% reduction in the L2 discrete norm of vertical motion compared to 2D H∞ feedback control, while maintaining high robustness against CAV penetration rate variations and packet loss delays, offering an effective solution for mixed vehicle platoon control in complex traffic scenarios.