Cooperative Control Design for Modular vehicles: Platoon Pattern and Biomimetic Group Pattern

With the advancement of the automobile industry revolution in the era of Industry 4.0, electrification has become an inevitable trend. The modular vehicle takes the electric drive module as the basic unit, and constitutes the whole vehicle through virtual coupling to adapt to a variety of workplaces. This paper focuses on the stability control of modular vehicles and explores the main applications: the platoon system and biomimetric group system, which can effectively increase road capacity, relieve road pressure and reduce carbon emissions. Firstly, taking the platoon system and the biomimetic group system as examples, the kinematic models of modular vehicles are established by using U-K method. Secondly, the dynamic model of constrained modular vehicle systems is analyzed. Third, combining the decomposition and processing of the system uncertainty, the adaptive robust control is proposed to guarantee the modular vehicle systems safe and stable. The feasibility of the work has been verified through simulation