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

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.