This paper is concerned with a problem of cooperative braking control for a platoon of vehicles subject to external disturbances. To reject the disturbances, a novel disturbance observer that requires no prior knowledge on the derivative of disturbances is developed using the time transformation method. Based on this observer, a distributed platooning controller is derived in the context of terminal sliding mode control theory. It is proved by the proposed controller that all following vehicles can track the leader to reach the target stopping positions (TSPs) with guaranteed stability, and the spacing error between two successive vehicles converges to zero in a finite time. The effectiveness of the proposed scheme, together with the superiority to the existing ones, is verified by numerical simulations.
Disturbance Observer-Based Finite-Time Braking Control of Vehicular Platoons
IEEE Transactions on Intelligent Vehicles ; 9 , 1 ; 492-500
2024-01-01
2394286 byte
Article (Journal)
Electronic Resource
English
OBSERVER-BASED COOPERATIVE ADAPTIVE CRUISE CONTROL OF VEHICULAR PLATOONS WITH RANDOM NETWORK ACCESS
British Library Conference Proceedings | 2018
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