Road-Dependent Longitudinal-Lateral Collaborative Adaptive Robust Control of Vehicular Platoons

The dynamic characteristics of the road, such as nonlinearity, heterogeneity, and uncertainty, limit the applicability of platoon control in complex road scenarios. To this end, this study proposes a road-dependent adaptive robust control scheme. Firstly, through a path projection method based on direct coordinate matching, dynamic reconstruction of the platoon geometry is achieved to match the nonlinear road. Secondly, a road-dependent motion model incorporating both equality and inequality constraints is constructed, strengthening the platoon-road coupling relationship and enhancing the platoon behavior's dynamic adaptability to road characteristics. Thirdly, based on state transformation, constraint-following theory, uncertainty orthogonal decomposition, and the Lyapunov min-max method, a road-dependent constraint-following adaptive robust controller is developed. This ensures the uniform boundedness (UB) and uniform ultimate boundedness (UUB) performance of the constraint-following error under matched/mismatched uncertainties, achieving a robust platoon control that adapts to dynamic road characteristics. Finally, simulation experiments are conducted to validate the effectiveness of the proposed scheme. The results show that, in the scenario of continuously varying curvature roads, the proposed scheme effectively improves the accuracy of the platoon model and control, avoiding configuration distortion and behavior mismatch. It achieves path tracking and spacing following that adapts to road characteristics. Even in the presence of uncertainty, the tracking performance boundary can be strictly guaranteed.