Adaptive Full Actuation Control for Autonomous Vehicle Platoons

This paper studies adaptive full actuation control for autonomous vehicle platoons. Different from the existing work, an adaptive control law is proposed to mitigate model nonlinearities and parameter uncertainties, associated with longitudinal motion dynamics. It is shown that the proposed adaptive full actuation control law achieves velocity synchronization for heterogeneous vehicle platoons and disturbance string stability against the worst-case energy bounded disturbances without known bounds. Simulation examples illustrate the viability of the adaptive full actuation control law.