Connected and automated vehicles (CAVs) and regular human-piloted vehicles (RVs) will coexist in the near future. Research has indicated the feasibility of using CAVs to stabilize traffic flow and eliminate stop-and-go waves. In light of this, we develop distributed control schemes to stabilize mixed vehicular platoons by using CAV as the leading vehicle. We address several challenges, such as limited information perception capabilities of RVs, the uncertain actuation of human drivers, and external disturbances. Only local information from the preceding vehicle is used in the controllers. Modifications of the input-to-state string stability (ISSS) are established to cope with the uncertainty and disturbance characteristics while conditions for stability are derived. The proposed control schemes can attenuate the effect of disturbances while maintaining the ISSS property. The relationships between ISSS and other string stability concepts are clarified. Finally, numerical experiments are conducted to validate the effectiveness of the proposed platoon control schemes.

互联和自动驾驶汽车（CAV）与常规人类驾驶汽车（RV）将在不久的将来共存。研究表明，使用CAV来稳定交通流量和消除走走停停的浪潮的可行性。有鉴于此，我们开发了分布式控制方案，通过使用CAV作为主导车辆来稳定混合车辆排。我们解决了一些挑战，例如RV的信息感知能力有限，人类驾驶员的不确定致动以及外部干扰。控制器中仅使用来自先前车辆的本地信息。建立了输入状态字符串稳定性（ISSS）的修改，以解决不确定性和干扰特性，同时导出了稳定性条件。所提出的控制方案可以在保持ISSS特性的同时减弱干扰的影响。阐明了ISSS与其他字符串稳定性概念之间的关系。最后，进行了数值实验，以验证所提出的排控制方案的有效性。