Adaptive control of a vehicular platoon with unknown parameters and input variations
Adaptive controller, Autonomous vehicle platooning, Control input fluctuation, String stability
A switching adaptive control algorithm for automating connected vehicles in a rigid platoon pattern is proposed here. A second-order nonlinear model for the follower vehicles running on the highways is adopted and it is assumed that the parameters of the vehicles's model, including the mass, aerodynamic drag and tire drag, are fully unknown and their values cannot be used in arriving at the control laws. Furthermore, some uncertainties and external perturbations are added to the model to consider the effects of always present modeling errors, un-modeled dynamics and external time varying perturbations on the vehicles. Besides, control input variations are inserted into the nonlinear model of the platoon to represent actuator fluctuations. Subsequently, a robust adaptive control scheme is established so that the asymptotic stability of each vehicle in the platoon is guaranteed, and this is demonstrated using the Lyapunov stability criterion. A novel spacing error variable is also introduced to achieve the global string stability for the whole platoon. Following a comprehensive mathematical analysis, a computer simulation example is presented to illustrate the effectiveness as well as the performance of the proposed control system.
Aghababa, Mohammad Pourmahmood; Saif, Mehrdad; and Shafai, Bahram. (2020). Adaptive control of a vehicular platoon with unknown parameters and input variations. IFAC-PapersOnLine, 53 (2), 13876-13881.