This paper develops a disturbance observer (DO) based integral sliding-mode control (ISMC) scheme for connected vehicles (CVs) platoon. Firstly, the ISMC scheme with DO is designed considering car-following interactions between CVs to guarantee the stability of the CV platoon in finite time (FT). Furthermore, the developed DO can accurately estimate the external disturbance of the connected vehicles (CVs) platoon without considering the disturbance boundary. Then, Lyapunov theory and the Laplace transform are employed to prove individual stability and string stability, respectively. Finally, the superior performance of the developed controller is testified by simulations.
Integral Sliding-Mode Platoon Control for Connected Vehicles with Disturbance Observer
2022-10-28
1417822 byte
Conference paper
Electronic Resource
English