A Novel Multi-Agent Model-Free Adaptive Control Algorithm for a Class of Multivehicle Systems with Constraints

To solve the problem of longitudinal cooperative formation driving control multiple vehicles, a model-free adaptive algorithm with constraints (cMFAC) is proposed in this paper. In cMFAC algorithm, dynamic linearization technique time-varying parameter pseudo-gradient (PG) used to linearize multivehicle collaborative system. Then, controller designed. The sets input and output at same time prevent vehicle speed other parameters from exceeding specified range. main advantage that entire process only needs data each can effectively handle constraints. addition, stability method verified through strict mathematical analysis, its effectiveness semi-physical experiments based on MATLAB/Simulink module CarSim platform connection environment. It worth noting symmetric because cost function PG have similar structures, forms two functions are same.