Direct adaptive longitudinal control of vehicle platoons
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Higher traffic capacities require smaller intervehicular spacings. At such intervehicular separations, aerodynamic drag force changes significantly with the distance to be maintained. The mass of the vehicle varies with the number of passengers. In this paper, we present a Lyapunov-based decentralised adaptive control algorithm to compensate for such parametric variations. We examine this direct adaptive control algorithm for platoon performance and parameter convergence. We present the simulation and experimental results to demonstrate the effectiveness of the adaptive controller.<>
author list (cited authors)
Swaroop, D., & Hedrick, J. K.