Distributed adaptive control for vehicular platoon with unknown dead-zone inputs and velocity/acceleration disturbances

作者：Guo, Xiang-Gui; Wang, Jian Liang^*; Liao, Fang; Teo, Rodney Swee Huat

来源：International Journal of Robust and Nonlinear Control, 2017, 27(16): 2961-2981.

DOI：10.1002/rnc.3720

• string stability
• constant spacing (CS) policy
• modified constant time headway (MCTH) policy
• integrated sliding mode control (ISMC)
• dead-zone input

This paper is focused on designing a distributed adaptive control scheme for a vehicular platoon with unknown bounded velocity/acceleration disturbances and unknown nonlinear dead-zone inputs. Our aim is to design distributed adaptive controllers based on integral sliding mode control techniques that guarantee practical exponential convergence (i.e., exponential stability of an arbitrarily small neighborhood of zero) of the spacing errors and the string stability of the whole vehicular platoon. The contributions of this paper are that: (i) based on a modified constant time headway policy, the whole vehicular platoon is guaranteed to have string stability despite dead zone inputs; (ii) adaptive compensation terms are constructed to compensate for the time-variant effects caused by unknown bounded velocity/acceleration disturbances, and unknown dead zone inputs; (iii) an efficient numerical method for avoiding the singularity problem of the control law is also proposed. Numerical simulation results show the validity and advantages of the proposed method are significantly higher traffic density and string stability.

• 出版日期2017-11-10
• 单位北京科技大学