Degree

Doctor of Philosophy (PhD)

Department

Electrical and Computer Engineering

Document Type

Dissertation

Abstract

This dissertation investigates cooperative control of heterogeneous vehicle platoons, in cluding both autonomous electric vehicles (EVs) and gasoline vehicles (GVs), over both predecessor-following (PF) and bidirectional (BD) topologies. The platoon systems are in herently nonlinear and subject to unknown and uncertain parameters due to wear-tear, ageing, varying road conditions, and exogenous disturbances. To address these challenges, we propose two scalable distributed robust adaptive control laws that explicitly cope with parameter uncertainties and model nonlinearities. Specifically, a direct distributed adaptive control law based on passivity approach is proposed to solve the DSS problem for EV pla toons, and an indirect distributed adaptive control law based on linear matrix inequalities (LMIs) is developed to tackle the DSS problem for GV platoons. These two distributed adap tive control laws are robust, achieving not only velocity synchronization and safe inter-vehicle distances (IVDs) in the absence of disturbances, but also ensuring disturbance string stability (DSS) in the presence of the worst-case energy-bounded disturbances without known bounds. The results are global, independent of initial conditions, and robust to parameter uncertain ties and exogenous disturbances, which stand in sharp contrast to the existing results in the literature. Simulation studies confirm the effectiveness of the proposed distributed robust adaptive control laws for platoon control of heterogeneous uncertain nonlinear EVs and GVs over both PF and BD topologies. The results demonstrate superior performance compared to the existing methods, validating the robustness, scalability, and practical viability of the proposed approaches for cooperative vehicle platoon control.

Date

1-3-2026

Committee Chair

Gu, Guoxiang

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