Robust adaptive control for a class of autonomous vehicle platoons

Document Type

Article

Publication Date

6-1-2024

Abstract

This article studies robust adaptive control for a class of autonomous vehicle platoons. In particular, two innovative adaptive control laws are proposed to address both position and velocity tracking for a vehicle platoon. In addition, it is shown that robust asymptotic string stability can be delivered by the underlying adaptive control laws for the vehicle platoon, in the sense that these adaptive control laws are capable of mitigating parameter uncertainties involved in the nonlinear vehicular dynamics and achieving truly cooperative adaptive cruise control while ensuring the required safety spacing between each neighboring vehicle pair asymptotically. It is also shown that the control performance of the vehicle platoon can be further improved if the operating equilibrium points of all vehicles can be adaptively estimated, leading to two linear time-invariant control laws for individual vehicles under both position and velocity controls and for the vehicle platoon. Simulation studies illustrate the effectiveness of the proposed control method, validating the results obtained for the class of vehicle platoons.

Publication Source (Journal or Book title)

International Journal of Adaptive Control and Signal Processing

First Page

1999

Last Page

2021

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