Robust stability of connected cruise controllers

Connected cruise controllers that utilize motion information of human-driven vehicles must guarantee stability against uncertainties in driver behavior. Here, we present the robustness analysis of such connected vehicle systems using structured singular value analysis. In particular, we consider uncertainties arising from the feedback gains and reaction time delays of the human drivers, as well as time lags that arise in the powertrain dynamics. We demonstrate through two case studies how parameters in the connected cruise controller can be selected to ensure robust string stability.