Neighborhood Controller-Local Observer in Adaptive Control Approach for Heterogeneous Vehicle Platoon Formation

This paper studies a distributed model reference adaptive control which designed based on neighborhood controller-local observer. The controller will be applied in each follower which has limited-output information and uncertainty. The proposed control composes of four main parts, namely local observer, reference model, adaptive controller and neighborhood controller. Local observer is used to obtain full-state estimation of each follower by utilizing the internal output estimation error. While, the rest of the control parts responsible for simultaneously eliminate the effects of the uncertainty and tracking the leader state. The proposed control will be simulated by using heterogeneous vehicle platoon under two-predecessorfollowing-leader topology. Simulation results show that both the state estimation error and the tracking error to the reference model are approach zero as time approaches infinity and the platoon formation is achieved.