Data-Driven Finite-Time Platooning Control for Heterogeneous Nonlinear Vehicle Systems

This letter studies the issue of finite-time model-free adaptive control (FT-MFAC) applied to heterogeneous nonlinear vehicular platooning systems, focusing on a data-driven approach for design and analysis. Initially, the nonlinear vehicular platooning system is transformed into an equivalent data-relationship model through the use of pseudo partial derivatives. Subsequently, an output tuning factor is employed to facilitate the concurrent tracking of both position and velocity. Then, an adaptive controller without introducing additional constraints and shifting functions is developed to ensure model-free and finite-time control of the vehicle platoon. Ultimately, the proposed method’s effectiveness and advantages are validated through theoretical analysis and simulation results.