Objective To investigate the control of homogeneous vehicle platoons,including leader and follower ve-hicles with unknown external disturbances and nonlinearities so as to achieve cooperative control of the platoon of dealing with the traffic congestion,reduce exhaust emissions,and increase road capacity.Methods A novel distrib-uted cooperative sliding mode control strategy was proposed,integrating vehicle spacing strategies and communi-cation topology to ensure the stability of the platoon and the convergence of spacing and velocity errors.To ad-dress the unknown nonlinearities in the vehicle dynamics model,the distributed neural network adaptive law was introduced to estimate and compensate for the effects of these nonlinearities.Additionally,since the platoon sys-tem was inevitably affected by external disturbances,the disturbance observer was designed and its parameters were adjusted to approximate the actual external disturbances in the system.Results The correctness and effective-ness of the proposed distributed platoon control strategy were demonstrated through Lyapunov stability analysis and corresponding platoon control examples.Conclusion The proposed distributed cooperative sliding mode control strategy and the distributed neural network adaptive law effectively achieve the platoon synchronization,ensuring quick response,stability,and robustness of the system.
NETL
NSTL
万方数据
