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.


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    Title :

    V2V-Based Cooperative Control of Uncertain, Disturbed and Constrained Nonlinear CAVs Platoon


    Contributors:
    Zhu, Yang (author) / Wu, Jun (author) / Su, Hongye (author)


    Publication date :

    2022-03-01


    Size :

    1634543 byte




    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English



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