This study proposes a SMC-based longitudinal cruise controller of truck platoon. Firstly, the platoon model with the constant time headway spacing is characterized and the platoon control objectives including rear-end collision avoidance and string stability are formulated. Then, under the bidirectional-following topology, the distributed sliding mode controller is designed and the saturation function-based reaching law is introduced to reduce chattering. Furthermore, the convergence of the headway of platoon members and the string stability of platoon are demonstrated by a Lyapunov function of sliding surface and a transfer function of spacing error, respectively. Finally, the simulation of platoon including 5 trucks is conducted, considering both accelerating and cruising scenarios of the leader truck. The results show the quick convergence of spacing errors, with string stability and collision avoidance guaranteed, and validate the effectiveness of the SMC-based controller.


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    Title :

    Longitudinal Cruise Control of Truck Platoon Based on Distributed Sliding Mode Control Strategy


    Contributors:
    Cheng, Feihao (author) / Zheng, Hongyu (author) / Gong, Chaofan (author) / Kaku, Chuyo (author)


    Publication date :

    2022-10-28


    Size :

    1946038 byte




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



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