Synchronization of Heterogeneous Vehicle Platoons using Distributed Model Reference Adaptive Control

Prayitno, Agung and Nilkhamhang, Itthisek (2022) Synchronization of Heterogeneous Vehicle Platoons using Distributed Model Reference Adaptive Control. In: 2022 61st Annual Conference of the Society of Instrument and Control Engineers (SICE), September 6-9, 2022, Kumamoto, Japan.

[thumbnail of 01-Paper SICE 2022_IEEE_Cover Proceeding_Daftar Isi_Scopus(1).pdf] PDF
01-Paper SICE 2022_IEEE_Cover Proceeding_Daftar Isi_Scopus(1).pdf

Download (1MB)
Official URL / DOI:


This paper addresses the problem of heterogenous vehicle platoons, where each follower has a different nominal model and is subjected to uncertainty in the inertial time lag and control effectiveness. Distributed model reference adaptive control (DMRAC) is utilized to achieve synchronization. Each follower vehicle employs a heterogenous reference model and a nominal controller, along with an additional adaptive term to ensure that the follower may track the reference model despite uncertainties. The conditions on the coupling gain and adaptation law for each follower to ensure stability are derived. It is shown that the proposed controller guarantees the stability of the heterogenous vehicle platoon, which implies the synchronization of followers’ state to the leader. Numerical simulation validates the efficacy of the proposed controller. Moreover, the performance and characteristics of DMRAC are analyzed and compared to conventional control schemes.

Item Type: Conference or Workshop Item (Paper)
Uncontrolled Keywords: directed topology, distributed model reference adaptive control, heterogeneous vehicle platoon.
Subjects: T Technology > TK Electrical engineering. Electronics Nuclear engineering
T Technology > TL Motor vehicles. Aeronautics. Astronautics
Divisions: Faculty of Engineering > Department of Electrical Engineering
Depositing User: Agung Prayitno 204037
Date Deposited: 22 Nov 2022 08:16
Last Modified: 13 Apr 2023 02:51

Actions (login required)

View Item View Item