Distributed Adaptive Formation Control of Connected Vehicles with Actuator Saturation and Time-Varying Spacing

This study investigates the problem of distributed adaptive formation control of connected vehicles with actuator saturation and time-varying spacing. Firstly, optimization performance metrics are defined based on the requirements of vehicle formation control to ensure communication coordination among the following vehicles while enabling them to track the leader vehicle's trajectory. Secondly, time-varying spacing is introduced to meet the formation requirements in different scenarios. Furthermore, actuator saturation are imposed to ensure passenger comfort during the ride. Finally, the effectiveness of the proposed algorithm is validated through three numerical simulation cases.