RBFNN Based Platoon Control for CAVs with Input Constraints

This paper studies the platoon control problem for connected automated vehicles with control input constraints and model uncertainties, and a RBFNN based distributed adaptive platoon control scheme is developed for the considered vehicle platoon. Firstly, a discrete vehicle longitudinal dynamic model is established by using the sampling method, and then a constant spacing strategy based distributed vehicle platoon controller is designed by combining backstepping method and RBFNN. RBFNN is used to approximate model, and a constraint function is used to limit the vehicle control input to preset domain. Single vehicle state stability and vehicle platoon stability are analyzed by using Lyapunov method. Finally, simulation experiments are carried out to demonstrate the effectiveness of the method. Simulation results show that the scheme can guarantee stable movement of vehicle platoon with the desired distance, while satisfying amplitude and change rate constraints of control input.