The longitudinal control of the platoon of connected and automated vehicles (CAVs) has gained extensive attention in recent transportation research. A majority of existing results are based on linearized third-order vehicular models, under the premise that a complete priori knowledge of vehicle dynamics is available. This article focuses on a general class of third-order nonlinear CAVs with parametric uncertainty and unknown external disturbance which cannot be linearized. A vehicle-to-vehicle (V2V) communication-based cooperative adaptive backstepping control scheme is proposed, in which unknown parameters and disturbance bounds are estimated on-line. Since the transfer function of linear systems cannot be applied to nonlinear systems to guarantee string stability, asymmetric time-varying constraints are employed to prevent the spacing errors from growing up. A realistic example is considered to verify the feasibility of the control algorithm.
V2V-Based Cooperative Control of Uncertain, Disturbed and Constrained Nonlinear CAVs Platoon
IEEE Transactions on Intelligent Transportation Systems ; 23 , 3 ; 1796-1806
2022-03-01
1634543 byte
Article (Journal)
Electronic Resource
English
Taylor & Francis Verlag | 2023
|IEEE | 2019
IEEE | 2019