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.


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    Title :

    Trajectory Planning and Fixed‐Time Terminal Sliding‐Mode Control


    Contributors:
    Guo, Ge (author) / Wen, Shixi (author)

    Published in:

    Publication date :

    2023-10-25


    Size :

    19 pages




    Type of media :

    Article/Chapter (Book)


    Type of material :

    Electronic Resource


    Language :

    English




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