The paper presents a robust consensus approach of urban traffic networks (UTNs) for undersaturated traffic condition. Under this approach the relative occupancies of roads, similar to the traffic burthen of roads, can realize approximately asymptotic stable consensus and UTNs can be ensured robustness. Firstly we propose a simulation model of UTNs named cell transmission model (CTM). Furthermore, we can obtain a discrete-time linear time-invariant control system through the modeling of UTNs for undersaturated traffic condition, and then based on the consensus theory and the robust control theory we design a state-feedback control law to the robust consensus problem of UTNs. At last, we present an application example to verify the accuracy of the approach.
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