Finite-Time Cooperative Control for Vehicle Platoon With Sliding-Mode Controller and Disturbance Observer

Yongxin Zhu, Yongfu Li, Keyue Zeng, Longwang Huang, Gang Huang, Wei Hua, Yibing Wang, Xinbo Gao

Abstract: This article proposes a finite-time based sliding-mode controller (FTSMC) and disturbance observer (FTDO) for connected vehicle (CV) platoon with uncertain dynamics. In particular, a recursive structure consisting of first-level and second-level sliding mode surfaces (SMSs) is developed for the chattering of the conventional SMC. Herein, the first-level SMS is designed based on a proportional-integral-derivative SMS considering the spacing error and interactive behaviors of vehicles, and the second-level SMS is based on an integral terminal SMS. Simultaneously, the disturbances suffered from the ego-vehicle uncertainty and nonlinearity are estimated by the FTDO. The FTSMC and FTDO are proposed to regulate the CV platoon in finite time. Meanwhile, the CV platoon can ensure the finite stability and string stability via rigorous analysis. Finally, the feasibility of the proposed controller is verified by extensive simulations and co-simulations, and small-scaled experiments.