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Title: Platoon-stable adaptive controller design
Authors: Sun, M. 
Lewis, F.L.
Ge, S.S. 
Issue Date: 2004
Citation: Sun, M., Lewis, F.L., Ge, S.S. (2004). Platoon-stable adaptive controller design. Proceedings of the IEEE Conference on Decision and Control 5 : 5481-5486. ScholarBank@NUS Repository.
Abstract: In this paper, adaptive control is presented for a platoon of vehicles in the presence of parameter uncertainties. A constant time headway policy is employed for a platoon stable control design based on feedback linearization. Using Lyapunov synthesis, the developed adaptive controller guarantees the boundedness of spacing errors in the platoon. The parameter estimates eventually converge to their true values and the platoon achieves the desired performance that the platoon stability properties are ensured. As a consequence, the resulting vehicle platoon can operate without requiring communication of lead vehicle information.
Source Title: Proceedings of the IEEE Conference on Decision and Control
ISBN: 0780386825
ISSN: 01912216
DOI: 10.1109/CDC.2004.1429680
Appears in Collections:Staff Publications

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