Robust predefined-time platoon control of networked vehicles with uncertain disturbances

Jiange Wang, Xiaoyuan Luo, Xiaolei Li and Xinping Guan

International Journal of Systems Science, 2021, vol. 52, issue 15, 3128-3140

Abstract: In this paper, we consider the specified-time platoon control for the networked vehicles modelled by the third-order dynamics with uncertain external bounded disturbance. The vehicles are subjected to disturbance and parameter uncertainties. To ensure the platoon can converge within a predefined time, a novel disturbance observer with a time-varying dynamic gain is proposed. By the time transformation approach, the disturbance observer is proved to be uniformly ultimate bounded (UUB) stable in a specified time. The time-varying dynamic gain is also applied to design the novel specified-time controller for the vehicle platoon and rigorous proof is presented based on Lyapunov stability. Under the proposed disturbance observer and controller, the vehicle platoon can be stabilised within the predefined time without depending on any system parameters and initial conditions. Finally, some comparison simulation results are given to verify the effectiveness of the proposed protocols.

Date: 2021
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DOI: 10.1080/00207721.2021.1921309

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