Abstract: Aiming at the control problem of a platoon of connected intelligent vehicles, adesign method of strict collision-avoidance distributed robust controller is proposed in this paper. Firstly, a nonlinear error dynamic model containing complex uncertainties and external disturbances is established, the collision-avoidance abilityandcompactness of platoon are ensured by fluctuation interval limiting vehicle spacing error, and accordingly a vehicle spacing potential function is introduced. Then based on spacing potential function, the states of egovehicle and neighboring vehicles and dynamically uncertain boundaries, a distributed robust control law is designed, and it is theoretically proved that the controller can ensure the collision-avoidance ability,compactness and stability in speed errorof platoon, with the effects of communication topology and control parameters on control performance analyzed. By correcting the desired vehicle spacing model, the application scope of the controller can be extended to the condition with large initial error. Finally, a numerical simulation is performed to verify the results of main theoretical analysis

Key words: vehicle platoon, strict collision-avoidance, nonlinear robust control, platoon stability