Abstract
In order to reduce the effects of uncertain parameters in the intelligent vehicle platoon, a sliding mode control (SMC) strategy based on extreme learning machine (ELM) is presented in this paper. Firstly, considering the communication topology between the vehicle platoon, the vehicle platoon dynamics model is established, and the vehicle platoon distance error model is obtained based on the constant time distance strategy. Then, aiming at the uncertainty of some parameters in the model, a SMC method based on ELM parameter observer is proposed. The stability of the system is analyzed by constructing Lyapunov function. Finally, Trucksim/Simulink simulation verify the effectiveness of the method in this research. The results show that the proposed method can accurately estimate the uncertainty parameters in the vehicle platoon, then guarantee the stability, and realize the rapid convergence of errors.
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