TY - GEN
T1 - Adaptive Backstepping Control for Vehicular Platoons with Mismatched Disturbances Using Vector String Lyapunov Functions
AU - Song, Zihao
AU - Welikala, Shirantha
AU - Antsaklis, Panos J.
AU - Lin, Hai
N1 - Publisher Copyright:
© 2023 American Automatic Control Council.
PY - 2023
Y1 - 2023
N2 - In this paper, we consider the problem of platooning control with mismatched disturbances using adaptive backstepping method. We aim at simultaneously retaining the compositionality and the robustness of the controller with respect to general types of disturbances. To this end, motivated by the vector Lyapunov function-based analysis, we propose a novel notion called Vector String Lyapunov Function, whose existence implies l2 weak string stability. Based on this notion, we propose an adaptive backstepping controller for the platoon, where the compositionality and robustness are guaranteed with centralized adaptive laws. Besides, the internal and the l2 weak string stability are proved under the designed controller. By comparing with an existing method and two different types of disturbances and topologies, we numerically illustrate the effectiveness of the proposed control algorithm.
AB - In this paper, we consider the problem of platooning control with mismatched disturbances using adaptive backstepping method. We aim at simultaneously retaining the compositionality and the robustness of the controller with respect to general types of disturbances. To this end, motivated by the vector Lyapunov function-based analysis, we propose a novel notion called Vector String Lyapunov Function, whose existence implies l2 weak string stability. Based on this notion, we propose an adaptive backstepping controller for the platoon, where the compositionality and robustness are guaranteed with centralized adaptive laws. Besides, the internal and the l2 weak string stability are proved under the designed controller. By comparing with an existing method and two different types of disturbances and topologies, we numerically illustrate the effectiveness of the proposed control algorithm.
UR - http://www.scopus.com/inward/record.url?scp=85167811995&partnerID=8YFLogxK
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U2 - 10.23919/ACC55779.2023.10155831
DO - 10.23919/ACC55779.2023.10155831
M3 - Conference contribution
AN - SCOPUS:85167811995
T3 - Proceedings of the American Control Conference
SP - 4525
EP - 4530
BT - 2023 American Control Conference, ACC 2023
T2 - 2023 American Control Conference, ACC 2023
Y2 - 31 May 2023 through 2 June 2023
ER -