Neural Adaptive Sliding-Mode Control of a Vehicle Platoon Using Output Feedback

Maode Yan, Jiacheng Song, Lei Zuo and Panpan Yang
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Maode Yan: School of Electronic and Control Engineering, Chang’an University, Xi’an 710064, China
Jiacheng Song: School of Electronic and Control Engineering, Chang’an University, Xi’an 710064, China
Lei Zuo: School of Electronic and Control Engineering, Chang’an University, Xi’an 710064, China
Panpan Yang: School of Electronic and Control Engineering, Chang’an University, Xi’an 710064, China

Energies, 2017, vol. 10, issue 11, 1-17

Abstract: This paper investigates the output feedback control problem of a vehicle platoon with a constant time headway (CTH) policy, where each vehicle can communicate with its consecutive vehicles. Firstly, based on the integrated-sliding-mode (ISM) technique, a neural adaptive sliding-mode control algorithm is developed to ensure that the vehicle platoon is moving with the CTH policy and full state measurement. Then, to further decrease the measurement complexity and reduce the communication load, an output feedback control protocol is proposed with only position information, in which a higher order sliding-mode observer is designed to estimate the other required information (velocities and accelerations). In order to avoid collisions among the vehicles, the string stability of the whole vehicle platoon is proven through the stability theorem. Finally, numerical simulation results are provided to verify its effectiveness and advantages over the traditional sliding-mode control method in vehicle platoons.

Keywords: vehicle platoon; adaptive sliding-mode control; output feedback; string stability; constant time headway (search for similar items in EconPapers)
JEL-codes: Q Q0 Q4 Q40 Q41 Q42 Q43 Q47 Q48 Q49 (search for similar items in EconPapers)
Date: 2017
References: View complete reference list from CitEc
Citations: View citations in EconPapers (2)

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