Centralized and decentralized adaptive control of non-uniform platoon of vehicles: Constant time gap strategy

This paper deals with the adaptive control and identification of 1-D platoon of non-identical vehicles. Three common different topologies such as predecessor following (PF), bi-directional leader following (BDLF) and two predecessors following (TPF) are considered as the communication structures of platoon. For each topology, a new neighbor-based adaptive control law is introduced to estimate the parameter uncertainties. Constant time gap strategy (CTGS) is used to adjust the intervehicle spacing. For each topology, it is shown that the closed-loop dynamics of platoon is asymptotically stable. Afterwards, the necessary conditions on control parameters assuring the string stability for each topology are derived by presenting further theorems. Simulation results with different scenarios are provided to show the effectiveness of the presented approaches.