Distributed Model Reference Adaptive Control Based on Cooperative Observer with Optimal Control Modification for Synchronization of Heterogeneous Vehicle Platoon

Many distributed controllers for vehicle platoon are designed based on homogeneous assumption and full state information. In reality, may consist of heterogeneous vehicles have limited information due to sensor constraints. Therefore, this paper proposes a model reference adaptive control cooperative observer with output subjected uncertain dynamics. Cooperative provides estimation the system. Each follower has that is its nominal variable feedback. Main system composed (i) utilized tracking error (ii) term adopted an optimal modification as adaptation law. The followers shown uniformly bounded stability guaranteed through detailed analysis. Performance proposed controller verified by using numerical simulation. To show advantage control, simulation results compared standard applied platoon. It eliminated high frequency oscillation in input.