Distributed Integrated Sliding Mode-Based Nonlinear Vehicle Platoon Control with Quadratic Spacing Policy

Abstract

This paper investigates the nonlinear vehicle platoon control problems with external disturbances. The quadratic spacing policy (QSP) is applied into the platoon control, in which the desired intervehicle distance is a quadratic function in terms of the vehicle’s velocities. Comparing with the general constant time headway policy (CTHP), the QSP is more suitable to the human driving behaviors (HDB) and can improve the traffic capacity. Then, a novel platoon control scheme is proposed based on the distributed integrated sliding mode (DISM). Since the external disturbances are taken into consideration, the sliding mode method is employed to handle the disturbances. Moreover, the stability and string stability of the proposed platoon control system are strictly analyzed. In final, numerical simulations are provided to verify the proposed approaches.

Numerical Analysis of Aeroacoustic Phenomena Generated by Truck Platoons

“…The work [32] characterized selected CACC controllers in detail, therefore they will not be discussed extensively in this paper. However, the authors note that numerous new approaches to platoon controller design have been proposed over the past few years, including adaptive [33,34], linear [35], model predictive control [36,37], and sliding mode control [38][39][40][41][42] or consensus-based controller [43,44].…”

Intelligent Guidance and Control Methods for Missile Swarm

“…e rudder deflection angle control command is directly generated according to the relative motion of missile target and the missile's own flight state, which can not only avoid instability but also greatly improve the guidance and control accuracy. At the same time, integrated guidance and control can also reduce the design cost of the control system, improve the overall reliability of the weapon system, promote the coordination among subsystems, and greatly improve the operational efficiency of missile [31][32][33]. In essence, the design of integrated guidance and control can be reduced to the nonlinear control problem of system output regulation.…”