Abstract
In real-life vehicle platoon systems, vehicle aerodynamics parameters and unknown disturbance are usually hard to measure or estimate accurately, which may reduce the safety and comfort of the platoon system. To this end, an extended state observer (ESO) based on super twisting algorithm (STA) is proposed to estimate the lumped disturbance accurately in finite time. On this basis, a continuous super twisting controller (STC) is designed to ensure the string stability of the platoon system. Compared with the traditional sliding mode control (SMC) method, the predominant control performance of the STC guarantees faster convergence rate and smaller transient response of the closed-loop interconnected vehicular systems. In addition, the continuous control signal can alleviate the chattering caused by the discontinuous switching item, which can improve the driving comfort of the vehicle platoon. Finally, simulations verify the effectiveness of the proposed observer and control method.
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