Distributed sliding mode control for formation of multiple nonlinear AVs coupled by uncertain topology

Abstract

To combat the variety uncertainties in topologies, dynamical models and disturbances, this paper presents a distributed sliding mode control strategy for formation control of multiple AVs. In this scheme, all collected information of each AV is used for its control and different perturbations are dealt with separately to reduce the contractions among them. Furthermore, a distributed adaptive algorithm is designed to replace the witching part for smoothness of control. The convergence of sliding surfaces of both two controllers is analysed theoretically. The sliding dynamics is affected by both the feedback and interaction topology. The existing decoupling method to handle the variety topologies can be used to synthesize the sliding dynamics. Finally, this approach has been applied to vehicular platooning and validated by several comparative simulations. The results show that the proposed method can control multiple AVs better than the state feedback strategy.

A Platoon Control Strategy for Autonomous Vehicles Based on Sliding-Mode Control Theory

“…With theoretical and engineering practical significance, the characteristics of sliding-mode control (SMC) are suitable for traffic flow platoon stability control [23], [24]. Based on the fundamental theory of sliding-mode control, the sliding-mode surface can be defined as (11). s = ce +ė (11) where e andė are respectively the error and its rate of change; c must meet the Hurwitz criterion i.e., c > 0.…”

“…Based on the fundamental theory of sliding-mode control, the sliding-mode surface can be defined as (11). s = ce +ė (11) where e andė are respectively the error and its rate of change; c must meet the Hurwitz criterion i.e., c > 0. It can be observed from (11) that when s (t) = 0, ce (t) + e (t) = 0 and the model will converge to e (t) = e(0)e −ct .…”

“…He et al explored a vehicle stability control strategy based on sliding-mode variable structure control theory [10]. Gao et al presented a distributed sliding mode control strategy for platoon control of multiple autonomous vehicles [11]. Lu et al presented a novel neural network adaptive sliding-mode control method to design the dynamic control system for an omnidirectional vehicle [12].…”

Utilizing sliding mode control for the cavitation phenomenon and using the obtaining result in modern medicine

“…Proof The sliding manifold S ISMC (X ) is considered outside of the boundary layer (24), hence, the Eq. (26) can be rewritten as follows;…”

“…Recently, sliding mode control (SMC) was turned into a popular method by robustness and simple implementation and applied to a variety of systems [24]. The main negative aspect of SMC control is a chattering phenomenon [25].…”