Observer-based adaptive control of vehicle platoon with uncertainty and input constraints

This study focuses on the highway platoon driving mode and proposes a distributed adaptive control algorithm based on an observer. Firstly, the adaptive observer is designed to compensate for the effect of unknown driving resistance and thus enhance the adaptation ability of the system to uncertainty. Secondly, an auxiliary system is introduced to specifically address actuator saturation constraints, ensuring the stability of the platoon driving in extreme conditions. Lastly, combining an event-triggered mechanism, a control strategy is designed to achieve the stability of the entire platoon while maximizing the conservation of communication resources. The algorithm's viability and efficiency are confirmed through simulation outcomes.