Adaptive Backstepping Control for Vehicular Platoons with Mismatched Disturbances Using Vector String Lyapunov Functions

Zihao Song, Shirantha Welikala, Panos J. Antsaklis, Hai Lin

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

Abstract

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.

Original languageEnglish
Title of host publication2023 American Control Conference, ACC 2023
Pages4525-4530
Number of pages6
ISBN (Electronic)9798350328066
DOIs
StatePublished - 2023
Event2023 American Control Conference, ACC 2023 - San Diego, United States
Duration: 31 May 20232 Jun 2023

Publication series

NameProceedings of the American Control Conference
Volume2023-May
ISSN (Print)0743-1619

Conference

Conference2023 American Control Conference, ACC 2023
Country/TerritoryUnited States
CitySan Diego
Period31/05/232/06/23

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