The coupling, nonlinearity, and uncertainty characteristics of vehicle dynamics make the accurate longitudinal and lateral control of an automated and connected vehicle platoon a tough task. Little research has been conducted to fully address the characteristics. By using the ideology of constraint-following control this article proposes an integrated longitudinal and lateral adaptive robust control methodology for a vehicle platoon with a bidirectional communication topology. The platoon control objectives contain the path tracking stability, the platoon internal stability, and the string stability. First, we establish the nonlinear kinematics path tracking model and the coupled vehicle longitudinal and lateral dynamical model that contains time-varying uncertainties. Second, we design a series of nonlinear equality constraints that directly guarantee the control objectives based on the kinematic relations. On this basis, an adaptive robust constraint-following control is proposed. It is shown that the control guarantees the uniform boundedness and the uniform ultimate boundedness of the constraint-following error and the uncertainty estimation error. Finally, simulation results are provided to validate the effectiveness of the proposed methodology.

车辆动力学的耦合，非线性和不确定性特性使对自动和连接的车辆排的精确纵向和横向控制成为一项艰巨的任务。很少进行研究以完全解决这些特征。通过使用约束跟随控制的思想，本文提出了一种用于具有双向通信拓扑的车辆排的集成纵向和横向自适应鲁棒控制方法。排控制目标包含路径跟踪稳定性，排内部稳定性和字符串稳定性。首先，我们建立了非线性运动学路径跟踪模型和包含时变不确定性的耦合车辆纵向和横向动力学模型。第二，我们设计了一系列非线性等式约束，这些约束直接基于运动关系保证了控制目标。在此基础上，提出了一种自适应鲁棒约束跟随控制。结果表明，控制保证了约束跟随误差和不确定性估计误差的一致有界性和最终极限有统一性。最后，提供了仿真结果以验证所提出方法的有效性。