Disturbance Observer Based Model-Free Adaptive Longitudinal Control of Vehicle Platoon

This paper provides an improved model-free adaptive control (IMFAC) scheme to improve the disturbance rejection performance of vehicle platoon system operating under bounded disturbances. Firstly, using the dynamic linearization technology based on pseudo-gradient (PG) to transform the longitudinal dynamics of vehicle into a disturbance related data model. For the unknown disturbance in the system, the disturbance observer is used for real-time estimation to suppress the impact of the disturbance on the system. Then based on the above dynamic linearization data model, the distributed model free adaptive longitudinal control method is designed. Finally, based on CarSim/Simulink joint simulation platform, the provided control algorithm is validated under disturbance conditions, and through the comparative experiment with the classical PID control strategy, the algorithm has better dynamic response characteristics in disturbance suppression.