Robust CMAC backstepping longitudinal control of vehicle platoons

This paper proposes a control scheme for the car-following collision prevention systems using a robust cerebellar model articulation controller (CMAC) via the backstepping control technique. In the robust CMAC backstepping control system, an adaptive CMAC is used to mimic an ideal backstepping control law and a robust controller is designed to compensate for the difference between the ideal backstepping control law and the adaptive CMAC. Moreover, the Taylor linearization technique is employed to derive the linearized model of the CMAC. The adaptation laws of the control system are derived in the sense of Lyapunov stability analysis, so that the stability of the system can be guaranteed. Finally, the proposed control system is applied for the car-following collision prevention control. Simulation results show that this method can achieve favorable tracking performance for a safe car-following control.