This article develops a novel platoon control scheme for connected trucks subject to external disturbances. Specifically, based on third-order heterogeneous truck kinematic model, a variable time headway spacing policy based platoon controller is developed by incorporating the position difference, velocity difference, and acceleration difference between trucks to achieve consensus. Simultaneously, an integral slide mode controller is developed to deal with the disturbances. Then, the convergence of the truck platoon is proved by employing the Lyapunov method and Routh- Hurwitz criterion. Under the developed controllers, the stably track performance can still be guaranteed in spite of the disturbances. Eventually, extensive simulation examples are carried out to testify the robustness and superiority of the developed controller.
Platoon Control for Connected Trucks Considering External Disturbances
2021-10-29
1299106 byte
Conference paper
Electronic Resource
English
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