Practical prescribed-time sliding-mode output feedback tracking control for heterogeneous vehicle platoon

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This paper proposes a new output feedback tracking control for platoon systems of heterogeneous vehicles subject to nonlinear disturbances. First, a distributed prescribed-time extended-state observer (PTESO) is presented to estimate the unmeasurable system states and nonlinear disturbances. On this basis, a practical prescribed-time sliding-mode output feedback control (PPTSMC) law is designed, such that the constructed closed-loop system always guarantees its preset performance ability regardless of the initial conditions. Finally, the effectiveness and superiority of the developed method are verified by theoretical analysis and simulation.