Online GPR-based Feedback Linearization Model Predictive Control For Heterogeneous Vehicular Platoons

In the context of modern intelligent transportation systems, managing heterogeneous vehicular platoons (HVP) presents a unique challenge due to the diverse dynamics and behaviors of different vehicle types. In this study, we propose an online GPR-based feedback linearization model predictive control strategy specifically designed for the cooperative control of HVP. Utilizing Gaussian Process Regression (GPR), our approach reliably estimates the complex unknown system model, while the controller design ingeniously integrates model predictive control (MPC) within a feedback linearization framework. Ultimately, the efficacy and superior performance of our proposed method-ology are confirmed through two sets of simulations, showcasing its robustness and adaptability in managing dynamic platoon behaviors.