Distributed “End-Edge-Cloud” structural car-following control system for intelligent connected vehicle using sliding mode strategy

Abstract

This paper proposes a new car-following model to describe the characteristics of the urban Internet of vehicle (IoV) of the “End-Edge-Cloud” architecture. The stability of the proposed CF model is analyzed using the perturbation method. Furtherly, in order to overcome the disturbances in the operation of the newly proposed system in this paper, a sliding mode controller is designed based on non-homogeneous terminal sliding mode variables, and after setting up the controller, the dynamic performance of the system is analyzed by solving the linear inhomogeneous differential equation and the Lyapunov method, and it is proved that the system can converge in finite time. Finally, the rationality of the model proposed in this paper and the significant improvement in the dynamic performance of the system under the action of the controller are effectively demonstrated through numerical experiments conducted in MATLAB and simulation experiment carried out in the ROS-Gazebo environment.