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This paper proposes a multi-model adaptive control (MMAC) algorithm based on Youla-Kucera (YK) theory to deal with heterogeneity in cooperative adaptive cruise control (CACC) systems. The main idea of MMAC is to choose the plant in a predefined set that best approximates the system dynamics, applying the corresponding predesigned controller. A set of linear plants describing different vehicle dynamics is defined. Different CACC controllers are designed depending on these linear plants. Simulation and experimental results prove how MMAC determines the closest plant in the set, choosing the CACC system able to ensure string stability.
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Navas et al. (2020) studied this question.
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