This paper investigates a bidirectional vehicular platoon control problem where a disturbance observer is designed. A useful distributed Sliding-Mode Control (SMC) law is designed with a disturbance estimation for the following vehicles, which can communicate with its immediate predecessor and successor. By applying a coupled sliding-mode surface approach and Lyapunov stability theory, the spacing error of each following vehicles can be driven to the proposed sliding-mode surface in finite-time and converge to zero ultimately. Furthermore, the string stability is also demonstrated analytically by choosing a suitable coupled coefficient. Finally, simulation results show the effectiveness of the presented control law in addressing disturbance.
A control method for a bidirectional vehicular platoon via a disturbance observer
Sixth International Conference on Computer Information Science and Application Technology (CISAT 2023) ; 2023 ; Hangzhou, China
Proc. SPIE ; 12800
2023-10-11
Conference paper
Electronic Resource
English
Disturbance Observer-Smith Predictor Compensation-Based Platoon Control with Estimation Deviation
DOAJ | 2022
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