Abstract
This paper investigates a vehicular platoon control problem with prescribed tracking performance in the presence of actuator saturation, uncertain parameters, and unknown disturbances. Two adaptive sliding mode control schemes based on leader–predecessor and leader–bidirectional information flows are presented to ensure string stability and strong string stability, respectively, with a prescribed tracking performance. The actuator saturation nonlinearity is addressed by approximating it with a smooth hyperbolic tangent function. The effects of uncertain parameters and exogenous disturbances are dealt with by introducing a set of adaptation laws. The effectiveness of the proposed control schemes is demonstrated via numerical simulation results.
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