Variable structure adaptive control for vehicle longitudinal following in a platoon

In this paper, by the Lyapunov function method, based on the nonlinear dynamical coupled model of string of vehicles, the problem of stability of a vehicle string in the presence of parametric uncertainty and time delays is studied, the decentralized adaptive algorithm to compensate for parametric variations is investigated and the variable structure longitudinal control laws for each vehicle in the platoon are designed. From the simulation of the vehicle platoon, convergence rate of spacing errors of the vehicle platoon is fast.