A Robust Longitudinal Control Strategy of Platoons under Model Uncertainties and Time Delays

Algorithm 1

The solution for the min-max problem.

Data: Sensor delay , the boundary of actuator lag , (delayed) system state , intervals

Results: Optimal control input in the horizon

initialization;

for

; the solution of optimal control problem of Eq. (16) with ;

the total cost with using Eq. (16)

end

for

if

;

end

end