The platooning of automated vehicles has potential to significantly benefit road traffic, while its robust performance is less investigated especially considering increasing complexity of interaction topologies. This study presents a decoupled H control method for automated vehicular platoon to comprehensively compromise multiple performances. The platoon control system is first decomposed into an uncertain part and a diagonal nominal system through the linear transformation, which is motivated by the eigenvalue decomposition of information topology. Based on this almost decoupled system, a distributed H controller is presented, which can balance the performances of robustness and disturbance attenuation ability. Moreover, a numerical method is given to solve and optimise this controller by using linear matrix inequality approach. Several comparative hardware-in-loop tests of different communication topologies and controllers have been carried out to demonstrate the effectiveness of this method.


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