This paper investigates the vehicle platoon control problems with both velocity constraints and input saturation. Firstly, radial basis function neural networks are employed to approximate the unknown driving resistance of a vehicle’s dynamic model. Then, a bidirectional topology, where vehicles can only communicate with their direct preceding and following neighbors, is used to depict the relationship among the vehicles in the platoon. On this basis, a neural adaptive sliding-mode control algorithm with an anti-windup compensation technique is proposed to maintain the (...) vehicle platoon with desired distance. Moreover, the string stability and the strong string stability of the whole vehicle platoon are proven through the stability theorem. Finally, numerical simulations verify the feasibility and effectiveness of the proposed control method. (shrink)

Learning from demonstration is one of the promising approaches for fast robot programming. Most learning systems learn both movements and stiffness profiles from human demonstrations. However, they rarely consider the unknown environment interaction. In this paper, a robot human-like learning framework is proposed, where it can learn human skills through demonstration and complete the interaction task with an unknown environment. Firstly, the desired trajectory was generated by dynamic movement primitive based on human demonstration. Then, an adaptive optimal admittance control scheme (...) was employed to interact with environments with the reference adaptation method. Finally, the experimental study was conducted, and the effectiveness of the framework proposed in this paper was verified via a group of curved surface wiping experiments on a balloon with unknown model parameters. (shrink)

This paper investigates the nonlinear vehicle platoon control problems with external disturbances. The quadratic spacing policy is applied into the platoon control, in which the desired intervehicle distance is a quadratic function in terms of the vehicle’s velocities. Comparing with the general constant time headway policy, the QSP is more suitable to the human driving behaviors and can improve the traffic capacity. Then, a novel platoon control scheme is proposed based on the distributed integrated sliding mode. Since the external disturbances (...) are taken into consideration, the sliding mode method is employed to handle the disturbances. Moreover, the stability and string stability of the proposed platoon control system are strictly analyzed. In final, numerical simulations are provided to verify the proposed approaches. (shrink)