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.
Optimal Control for Vehicle Platoon Considering External Disturbances
2022-10-08
1911534 byte
Conference paper
Electronic Resource
English
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