Robust Adaptive Heterogeneous Vehicle Platoon Control Based on Disturbances Estimation and Compensation

This paper presents an investigation into the problem of controlling a heterogeneous vehicle platoon, focusing on two aspects: the impact of noise in sensor measurements and the effect of road slope, wind, and rolling resistance on the longitudinal dynamics of each vehicle. To maintain an adequate separation between each follower, a static output feedback (SOF) controller is designed within the predecessor-leader-follower vehicle platoon topology. In order to mitigate the impact of sensor measurement noise and external disturbances on the system, robust control theory is incorporated into the controller design. The engine's control input is adjusted to compensate for external road disturbances affecting the longitudinal dynamics of each vehicle. This estimation is achieved through the use of a Kalman filter. Closed-loop stability of the heterogeneous vehicle platoon is ensured through a Lyapunov functional analysis. Simulations have shown that the proposed methodology achieves smoother platoon following than a strategy that does not consider or compensate the effect of disturbances on the longitudinal dynamics of the vehicle.