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

Table 4

Performance results: heterogeneous platooning controllers.

Indicators	Nominal MPC	MM-MPC	Nominal MPC	MM-MPC
	s,  s		s,  s
	938,74	933,82	1120,52	988,19
	249,38	250,08	348,66	301,35
	212,97	211,75	229,23	209,92
(m/s)	1,12	1,11	1,23	1,21
(m/s)	1,55	1,55	1,59	1,58
()	1,22	1,15	1,26	1,25
()	0,80	0,80	0,81	0,81
(m)	1,02	1,03	1,71	1,07
(m)	14,59	14,65	14,41	14,59
(m/s)	4,11	4,15	4,17	4,08
(m/s)	2,14	2,14	2,46	2,19
()	4,41	4,41	4,47	4,19
()	2,04	2,01	2,46	2,09
(m)	2,14	2,14	2,99	2,96
(m)	16,28	16,55	17,97	16,31