For the joint problem of vehicle speed planning and optimal tracking control considered already, according to the proposed control algorithm, vehicles can asymptotically track the leader speed when the time approaches infinity, which is not realistic in practice. This chapter revisits the problem with the aim to advance in at least two aspects. First, based on a cost defined by the accumulated intervehicle spacing errors, the authors introduce a novel distributed trajectory optimization method. Second, they propose a new terminal sliding mode control method for fixed‐time platoon tracking control, which is advantageous with alleviated chattering, zero steady‐state spacing errors and string stability. The chapter aims to design a tracking controller for each vehicle to track the reference trajectories of the position and velocity generated by the first layer. A continuous sliding mode controller is introduced to achieve trajectory tracking and reject disturbance in fixed time with zero steady‐state spacing errors.
Trajectory Planning and Fixed‐Time Terminal Sliding‐Mode Control
Connected Vehicular Systems ; 290-308
2023-10-25
19 pages
Article/Chapter (Book)
Electronic Resource
English
Fixed-Time Terminal Sliding Mode Control for Quadrotor Aircraft
British Library Conference Proceedings | 2020
|Fixed-Time Terminal Sliding Mode Control for Quadrotor Aircraft
Springer Verlag | 2019
|Fixed-Time Terminal Sliding Mode Control for Quadrotor Aircraft
TIBKAT | 2020
|