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August 22, 2026Journal of Intelligent and Connected VehiclesOpen Access

Control design for intelligent and connected vehicle swarm systems: A generalized Udwadia–Kalaba approach

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Authors

XZXiaomin ZhaoBWBingwen WangXGXinhua Gao

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Overview

Simulation study demonstrates robust formation tracking in connected vehicle swarms, indicating enhanced collision avoidance and disturbance attenuation under complex constraints.

Key Points

  • To develop a safe formation control and trajectory tracking strategy for intelligent connected vehicle swarms navigating obstacle-rich environments with nonlinear dynamics and model uncertainties.
  • Formulated a constraint-oriented framework combining artificial potential field functions for collision evasion with a generalized Udwadia–Kalaba approach for unified formation dynamics.
  • Applied diffeomorphic transformations to convert bounded inter-vehicle distance constraints into unconstrained variables for fixed and time-varying spacing regulation.
  • Designed an adaptive robust controller to counteract model uncertainties and external disturbances, comparing performance against a linear quadratic regulator benchmark.
  • The adaptive robust controller demonstrated lower constraint-following error compared to the linear quadratic regulator framework.
  • The proposed control architecture achieved superior external disturbance attenuation while maintaining safe cooperative formation and obstacle avoidance.

Cite This Study

Zhao et al. (2026) studied this question.

synapsesocial.com/papers/6a895f87ca7ade938187e486https://doi.org/10.26599/jicv.2026.9210096
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