Cooperative Control of Heterogeneous Connected Vehicle Platoons: An Adaptive Leader-Following Approach

  title={Cooperative Control of Heterogeneous Connected Vehicle Platoons: An Adaptive Leader-Following Approach},
  author={Junyan Hu and Parijat Bhowmick and Farshad Arvin and Alexander Lanzon and Barry Lennox},
  journal={IEEE Robotics and Automation Letters},
Automatic cruise control of a platoon of multiple connected vehicles in an automated highway system has drawn significant attention of the control practitioners over the past two decades due to its ability to reduce traffic congestion problems, improve traffic throughput and enhance safety of highway traffic. This paper proposes a two-layer distributed control scheme to maintain the string stability of a heterogeneous and connected vehicle platoon moving in one dimension with constant spacing… 

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