Observer-based adaptive longitudinal control of vehicles in the platoon

In this paper, an observer-based adaptive controller is proposed to control the longitudinal motion of vehicles. The standard gradient method Dill be used to estimate the vehicle parameters, mass, time constant, etc. The nonlinear model between the driving force and the vehicle acceleration Dill be chosen to design the state observer for the vehicle velocity and acceleration. It Dill be shown that the proposed observer is exponentially stable, and that the proposed adaptive controller is asymptotically stable. It Dill be also shown that the errors of the relative distance, the relative velocity and the relative acceleration converge to zero asymptotically fast. The computer simulation results are presented to investigate the effectiveness of the proposed method.