Decentralized Robust Control for Vehicle Platooning Subject to Uncertain Disturbances via Super-Twisting Second-Order Sliding-Mode Observer Technique

Platoon-based vehicular cyber-physical systems (VCPSs) have attracted much attention due to their potential to improve road capacity and energy efficiency. However, the comprehensive effect of the mismatched modeling dynamics and unknown disturbances can impose a great challenge on the convergence a...

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Bibliographic Details
Published inIEEE transactions on vehicular technology Vol. 71; no. 7; pp. 7186 - 7201
Main Authors Zhou, Jianshan, Tian, Daxin, Sheng, Zhengguo, Duan, Xuting, Qu, Guixian, Cao, Dongpu, Shen, Xuemin
Format Journal Article
LanguageEnglish
Published New York IEEE 01.07.2022
The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subjects
Control systems
Control systems design
Controllers
Convergence
Cyber-physical systems
Disturbance observer
Disturbance observers
Optimal control
Perturbation methods
Platooning
Robust control
Robustness
Sliding mode control
Stability
Stability criteria
Twisting
Vehicle dynamics
vehicle platoon
Vehicle spacing
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Summary:Platoon-based vehicular cyber-physical systems (VCPSs) have attracted much attention due to their potential to improve road capacity and energy efficiency. However, the comprehensive effect of the mismatched modeling dynamics and unknown disturbances can impose a great challenge on the convergence and stability of vehicle platooning. In this paper, we propose a novel decentralized robust control approach to address the external disturbances in vehicle platooning. Specifically, by combining a super-twisting second-order sliding mode (SOSM) strategy and a disturbance observer (DO), we design a super-twisting SOSMDO platoon controller. We also derive some design conditions of the controller and observer gains. Using the Lyapunov methodology, we theoretically prove under the design conditions the finite-time convergence of the super-twisting SOSMDO to the platooning equilibrium state and its closed-loop stability to the disturbances. Extensive simulations have been conducted and the results demonstrate the superior performance of the proposed control approach in terms of inter-vehicle spacing, velocity tracking, and platoon robustness.
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ISSN:0018-9545
1939-9359
DOI:10.1109/TVT.2022.3170572