Abstract
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.
基金项目
National Natural Science Foundation of China(62373208)
National Natural Science Foundation of China(62003097)
Taishan Scholar Program of Shandong Province of China(tsqn202306218)
Talent Introduction and Cultivation Plan for Youth Innovation of Universities in Shandong Province()
万方数据