Disturbance Observer-Based Finite-Time Braking Control of Vehicular Platoons

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 met...

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Bibliographic Details
Published in:IEEE transactions on intelligent vehicles 2024-01, Vol.9 (1), p.1-9
Main Authors: Guo, Ge, Zhang, Xinxin, Liu, Yan-Xi, Zhao, Ziwei, Zhang, Renyongkang, Zhang, Chen-Liang
Format: Article
Language:English
Subjects:
Braking
braking control
Control theory
Controllers
Convergence
Cooperative control
disturbance observer
Disturbance observers
Information science
Intelligent vehicles
Platooning
Roads
Sliding mode control
terminal siding mode control
Vehicle dynamics
Vehicles
Vehicular platoons
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Summary: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.
ISSN:2379-8858
2379-8904
DOI:10.1109/TIV.2023.3335151