Finite-time sliding mode prescribed performance platoon control of connected vehicles
GAO Zhen-yu
SUN Zhen-chao
GUO Ge
Abstract：This paper focus on the prescribed performance platoon control of connected vehicles subject to unknown disturbances and model uncertainties,and a novel platoon control scheme based on improved sliding mode control is proposed in this paper.First,to satisfy the prescribed performance of the vehicular platoon,a novel finite-time prescribed performance function is designed,with which the tracking errors can converge to the given region in settling time.Then,an improved sliding mode control scheme is proposed,which speeds up the convergence speed of the system.The given scheme is proved to be capable of guaranteeing the individual vehicle stability and string stability in finite-time of the platoon.At the same time,the effects of unknown disturbances and model uncertainties are dealt with by introducing a set of adaptive estimation laws.Finally,the effectiveness of the proposed algorithm is verified by the simulation of platoon control of six connected vehicles in MATLAB.
Keywords：connected vehiclesplatoon controlfinite-time stabilitysliding mode controlprescribed performance control
Publication Date：2023-11-28
Online Publishing Date：2025-08-15(First online date of this platform, not the publication date of the document)
Pages：12( 1891-1902 )