Decentralized robust control for vehicle platooning subject to uncertain disturbances via super-twisting second-order sliding-mode observer technique

Zhou, Jianshan, Tian, Daxin, Sheng, Zhengguo, Duan, Xuting, Qu, Guixian, Cao, Dongpu and Shen, Xuemin (2022) Decentralized robust control for vehicle platooning subject to uncertain disturbances via super-twisting second-order sliding-mode observer technique. IEEE Transactions on Vehicular Technology. p. 1. ISSN 0018-9545

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Abstract

Platoon-based vehicular cyber-physical systems (VCPSs) have attracted much attention due to their potential to improve road capacity and energy efficiency. However, the comprehensive effect of the mismatched modeling dynamics and unknown disturbances can impose a great challenge on the convergence and stability of vehicle platooning. In this paper, we propose a novel decentralized robust control approach to address the external disturbances in vehicle platooning. Specifically, by combining a super-twisting second-order sliding mode (SOSM) strategy and a disturbance observer (DO), we design a super-twisting SOSMDO platoon controller. We also derive some design conditions of the controller and observer gains. Using the Lyapunov methodology, we theoretically prove under the design conditions the finite-time convergence of the super-twisting SOSMDO to the platooning equilibrium state and its closed-loop stability to the disturbances. Extensive simulations have been conducted and the results demonstrate the superior performance of the proposed control approach in terms of inter-vehicle spacing, velocity tracking, and platoon robustness.

Item Type: Article
Additional Information: © 2022 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.
Keywords: Vehicle Platooning, vehicular control
Schools and Departments: School of Engineering and Informatics > Engineering and Design
SWORD Depositor: Mx Elements Account
Depositing User: Mx Elements Account
Date Deposited: 03 May 2022 07:57
Last Modified: 03 May 2022 08:00
URI: http://sro.sussex.ac.uk/id/eprint/105590

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