Collision avoidance adaptive robust control for autonomous vehicles: Motivated by swarm properties

The control design problem for uncertain autonomous vehicle platoon system is considered. The uncertainty is possibly nonlinear and time-varying. Subject to the condition of collision avoidance, the original dynamical model for autonomous vehicle platoon system is designed with bounded state. After a state transformation, the bounded state is converted into a globally unbounded one. The swarm properties are incorporated into the system as ideal platoon performance. By treating the performance as constraint, the closed-form expression of the constraint force is obtained. An adaptive law is proposed to estimate the unknown parameters. Based on the constraint force and adaptive law, a class of adaptive robust control for each following vehicle in the platoon is proposed. Three major system performances are guaranteed: (i) collision avoidance, (ii) stable formation and (iii) global behavior.