Abstract
Vehicle platoon has been demonstrated to be a promising driving pattern for its prominent advantages in enhancing traffic safety, improving highway capacity, and increasing fuel economy as well as reducing carbon emissions. However, the uncertain driving resistance and saturated actuator output decay the control performance and may even lead to the instability of a vehicle platoon. Therefore, a distributed adaptive sliding mode control algorithm for vehicle platoon with uncertain driving resistance and actuator saturation is proposed in this paper. First of all, sliding mode control technique, together with the coupled sliding surface (CSS) method, is adopted to design the vehicle platoon control algorithm and an adaptive updating law is proposed to estimate the unknown driving resistance coefficients. Then, for the problem of actuator saturation, an antiwindup compensation-based approach is utilized to attenuate the integral windup of the adaptive platoon control laws in the case of actuator saturation. In addition, considering the chattering problem inherent in sliding mode control, a sigmoid-like function sgn⋅ is deployed to weaken the influence of chattering, which is expected to enhance the driving comfortableness. Both theoretical analysis and numerical simulation verify the feasibility and effectiveness of the proposed vehicle platoon algorithm.
Highlights
In recent years, the automated highway system (AHS) has gained considerable attentions from governments, automobile manufactures, and academia because of the increasing traffic congestion problem in large cities [1,2,3]
We only consider the influence of uncertain driving resistance for vehicle platoon, where (19), (20), (22), and (23) are applied to the vehicle
In Case 1, we only consider the influence of uncertain driving resistance for vehicle platoon, where (19), (20), (22), and (23) are applied to the vehicle
Summary
The automated highway system (AHS) has gained considerable attentions from governments, automobile manufactures, and academia because of the increasing traffic congestion problem in large cities [1,2,3]. As for the unknown driving resistance in vehicle platoon control, existing literatures mainly treat it as time-varying external disturbance without explicitly obtaining its true value [12]. In [9], the uncertain driving resistance in vehicle dynamics is modeled as an unknown time-varying disturbance and an adaptive method is adopted to estimate this value. We are trying to investigate the vehicleplatoon problem with uncertain driving resistance and actuator saturation via adaptive sliding mode control approach. A distributed adaptive sliding mode control algorithm for vehicle platoon with uncertain driving resistance is proposed.
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