Longitudinal Control Strategy of Vehicular Platoon Based on a Finite-Time Disturbance Observer
This study investigates the longitudinal control problem of vehicle pla-toon.Considered the characteristic of vehicle platoons being easily affected by large-amplitude and discontinuous external disturbances,a new strategy based on a finite-time disturbance observer and non-singular terminal sliding-mode control(NSTSMC)is proposed.Firstly,disturbances are observed through the finite-time disturbance observer,allowing the observation error to converge to zero within a finite time.Then,by designing an NSTSMC controller,the spacing error of the platoon can move to the designed coupling sliding-mode surface within a finite time,and then the spac-ing error converges to zero in finite time.Furthermore,by designing the coupling sliding-mode surface coefficients and using the Laplace transform method,the string stability of the vehicle platoon is ensured.Finally,the effectiveness of the proposed algorithm is demonstrated through simulation results,and compared with the tradi-tional sliding-mode control law(SMC),highlighting the superiority of the proposed control algorithm in suppressing disturbances.The results show that the algorithm designed solves the problem of disturbances easily causing instability in the vehicle platoon system,ensuring the safe and stable driving of the vehicle platoon.
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