首页|Predictor and ESO-based adaptive tracking control of heterogeneous vehicle platoon

Predictor and ESO-based adaptive tracking control of heterogeneous vehicle platoon

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This paper investigates the distributed adaptive platoon tracking problem of third-order heterogeneous vehicles subject to model uncertainties.The design process is divided into two steps.Firstly,an adaptive tracking controller is designed for the dynamic leading vehicle.And then,the distributed adaptive controllers are established for followers.Moreover,the predictor technique is used to improve the estimate performance of the adaptive law,and the total disturbance is approximated and compensated by the variable gain nonlinear extended state observers(NESOs)driven by the estimation error.By introducing the variable gain hyperbolic tangent tracking differentiator(HTTD),the"complexity explosion"problem is avoided.The feasibility and effectiveness of the proposed protocol are verified by simulation tests.

variable gain NESOsheterogeneous vehiclesplatoon trackingpredictor

SUN ZhiZe、LIU Yang、ZHANG LinChuang

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College of Control Science and Engineering,Bohai University,Jinzhou 121013,China

College of Automation and Electronic Engineering,Qingdao University of Science and Technology,Qingdao 266061,China

College of Information Science and Technology,Bohai University,Jinzhou 121013,China

National Natural Science Foundation of ChinaNational Natural Science Foundation of ChinaTaishan Scholar Program of Shandong Province of ChinaTalent Introduction and Cultivation Plan for Youth Innovation of Universities in Shandong Province

6237320862003097tsqn202306218

2024

10.1007/s11431-023-2551-y

中国科学:技术科学(英文版)
中国科学院

中国科学:技术科学(英文版)

CSTPCDEI
影响因子：1.056
ISSN：1674-7321
年,卷(期)：2024.67(9)