Adaptive optimal control of connected vehicles

Research output: Chapter in Book/Report/Conference proceedingConference contribution


In this paper, a data-driven non-model-based approach is proposed for the adaptive optimal control of connected vehicles, comprised of n human-driven vehicles only transmitting motional data and an autonomous vehicle in the tail receiving the broadcasted data from preceding vehicles by wireless vehicle-to-vehicle (V2V) communication devices. An optimal control problem is formulated to minimize the errors of distance and velocity and to optimize the fuel usage. By employing adaptive dynamic programming (ADP) technique, optimal controllers are obtained by online approximation for the connected vehicles without knowing the system dynamics. The effectiveness of the proposed approach is demonstrated via online learning control of the connected vehicles in two scenarios.

Original languageEnglish (US)
Title of host publication2015 10th International Workshop on Robot Motion and Control, RoMoCo 2015
PublisherInstitute of Electrical and Electronics Engineers Inc.
Number of pages6
ISBN (Electronic)9781479970438
StatePublished - Aug 24 2015

Publication series

Name2015 10th International Workshop on Robot Motion and Control, RoMoCo 2015

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Human-Computer Interaction
  • Artificial Intelligence


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