Robust Optimal Adaptive Cruise Control Based on ADP for Intelligent Vehicles under Bounded Disturbances

In the Adaptive Cruise Control mode, intelligent vehicles often encounter various matching disturbances that can impact the effectiveness of the Adaptive Cruise Control system. To achieve tracking performance and driving comfort of adaptive cruise control for intelligent vehicles under bounded matching disturbances, this paper proposes a robust optimal Adaptive Cruise Control strategy. First, an optimal controller is designed to realize the driving safety and comfort. Then, to solve the optimal control law, we constructed a critic network to approximate the unknown parameter by Adaptive Dynamic Programming, and the asymptotically stability and Uniformly Ultimately Bounded stability are analyzed using Lyapunov analysis. Finally, the effectiveness of the control strategy is verified by simulations.