This article designs a novel controller that is composed of a linear quadratic regulator (LQR)-based controller and a sliding mode controller (SMC) to guarantee the consensus of vehicle platoon considering the effect of external disturbances. Particularly, a LQR-based controller is designed to ensure the consensus related to position, velocity and acceleration of vehicles in the platoon and the optimization of performance under a diversity of communication topologies. In addition, a SMC is used to deal with external disturbances. Under the LQR-based controller, the stability of the designed controller and the effects of communication topology are analyzed by the Lyapunov method. Finally, the simulation experiments illustrate the superiority of our proposal.


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    Title :

    Optimal Control for Vehicle Platoon Considering External Disturbances


    Contributors:
    Zhu, Yongxin (author) / Li, Yongfu (author) / Hu, Simon (author) / Yu, Shuyou (author)


    Publication date :

    2022-10-08


    Size :

    1911534 byte




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



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