期刊
ADVANCED ROBOTICS
卷 19, 期 2, 页码 169-189出版社
TAYLOR & FRANCIS LTD
DOI: 10.1163/1568553053148646
关键词
adaptive control; automatic vehicle control; platoon; radial basis functions
类别
This paper presents a control algorithm for a platoon of vehicles. We employ the radial basis function neural networks (NNs) to approximate unknown vehicle dynamics. A direct adaptive method used to update the NN weights on-line is proposed. It is shown that the proposed controller is of the decentralized type and ensures platoon stability. The performance of the controller is illustrated by simulations.
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