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In this paper, we study mixed traffic systems that move along a single-lanering-road or open-road. The traffic flow forms a platoon, which includes anumber of heterogeneous human-driven vehicles (HDVs) together with only oneconnected and automated vehicle (CAV) that receives information from severalneighbors. The dynamics of HDVs are assumed to follow the optimal velocitymodel (OVM), and the acceleration of the single CAV is directly controlled by adynamical output-feedback controller. The ultimate goal of this work is topresent a robust control strategy that can smoothen the traffic flow in thepresence of undesired disturbances (e.g. abrupt deceleration) and parametricuncertainties. A prerequisite for synthesizing a dynamical output controller isthe stabilizability and detectability of the underlying system. Accordingly, atheoretical analysis is presented first to prove the stabilizability anddetectability of the mixed traffic flow system. Then, two H-infinity controlstrategies, with and without considering uncertainties in the system dynamics,are designed. The efficiency of the two control methods is subsequentlyillustrated through numerical simulations, and various experimental results arepresented to demonstrate the effectiveness of the proposed controller tomitigate disturbance amplification and achieve platoon stability.

Synthesis of Output-Feedback Controllers for Mixed Traffic Systems in Presence of Disturbances and Uncertainties