An Adaptive Disturbance Decoupling Perspective to Longitudinal Platooning

Despite the progress in field of longitudinal formations automated vehicles, only recently an interpretation platooning has been given framework disturbance decoupling, i.e., problem making a controlled output independent disturbance. The appealing feature this is that decoupling approach naturally yields decentralized controller guarantees stability and string stability. In work, we further exploit show convergence to stable, stable decoupled behavior can be achieved even presence parametric uncertainty engine time constant. We refer as adaptive decoupling.