Abstract
The distributed adaptive control problem of vehicular platoon is considered. The vehicle longitudinal dynamics is modeled by a second-order nonlinear model with uncertain parameters. And the directed graph is used to describe the relationship of information transmission between vehicles. By utilizing dynamic gain technique, a distributed adaptive controller independent of the global platoon information is proposed. Moreover, when the split/join maneuver happens, it is shown that the control objective can be reached without redesigning the distributed controller as long as the interaction graph contains a directed spanning tree with the leading vehicle as the root. The numerical simulation results demonstrate the effectiveness of the proposed control law.
Abstract
The distributed adaptive control problem of vehicular platoon is considered. The vehicle longitudinal dynamics is modeled by a second-order nonlinear model with uncertain parameters. And the directed graph is used to describe the relationship of information transmission between vehicles. By utilizing dynamic gain technique, a distributed adaptive controller independent of the global platoon information is proposed. Moreover, when the split/join maneuver happens, it is shown that the control objective can be reached without redesigning the distributed controller as long as the interaction graph contains a directed spanning tree with the leading vehicle as the root. The numerical simulation results demonstrate the effectiveness of the proposed control law.