Journal of Intelligent & Robotic Systems

, Volume 85, Issue 3–4, pp 597–611 | Cite as

Nonlinear and Adaptive Suboptimal Control of Connected Vehicles: A Global Adaptive Dynamic Programming Approach

  • Weinan Gao
  • Zhong-Ping Jiang


This paper studies the cooperative adaptive cruise control (CACC) problem of connected vehicles with unknown nonlinear dynamics. Different from the present literature on CACC, data-driven feedforward and optimal feedback control policies are developed by global adaptive dynamic programming (GADP). Due to the presence of nonvanishing disturbance, a modified version of GADP is presented. Interestingly, the developed policy is guaranteed to globally stabilize the vehicular platoon system, and is robust to unmeasurable nonvanishing disturbance. Numerical simulation results are presented to validate the effectiveness of the developed approach.


Adaptive dynamic programming (ADP) Nonlinear optimal control Connected vehicles Cooperative adaptive cruise control (CACC) 


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Copyright information

© Springer Science+Business Media Dordrecht 2016

Authors and Affiliations

  1. 1.Department of Electrical and Computer EngineeringTandon School of Engineering, New York UniversityBrooklynUSA

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