Vehicular Platoon Control With Gain Variations via Unreliable VANETs

Abstract

This paper investigates the adaptive control for vehicular platoon with controller gain variations and packet dropouts. With leader predecessor following topology, vehicle speed tracking and distance keeping are achieved by tracking-error based control. The gain variations are compensated for by introducing an adaptive estimation law. A switching adaptive control law is presented to deal with packet dropouts, in which only distance measurements are used when packet dropouts occur. Combining the switched system approach and adaptive control, a set of stability conditions are obtained to design the adaptive controller for each follower. The results present a unified framework for determining the controller gains and the estimator adaptation law, yielding an adaptive control algorithm that guarantees both internal stability and <inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"><tex-math notation="LaTeX">$\mathcal {L}_{2}$</tex-math></inline-formula> string stability. Numerical examples demonstrate the effectiveness of our method.