An Adaptive Disturbance Decoupling Perspective to Longitudinal Platooning
Di Liu, Bart Besselink, Simone Baldi, Wenwu Yu, Harry L. Trentelman
Abstract
Despite the progress in the field of longitudinal formations of automated vehicles, only recently an interpretation of longitudinal platooning has been given in the framework of disturbance decoupling, i.e., the problem of making a controlled output independent of a disturbance. The appealing feature of this interpretation is that the disturbance decoupling approach naturally yields a decentralized controller that guarantees stability and string stability. In this work, we further exploit the disturbance decoupling framework and we show that convergence to a stable, string stable and disturbance decoupled behavior can be achieved even in the presence of parametric uncertainty of the engine time constant. We refer to this framework as adaptive disturbance decoupling.