Disturbance Observer-Based Finite-Time Braking Control of Vehicular Platoons

• Published in: IEEE transactions on intelligent vehicles Vol. 9; no. 1; pp. 492 - 500
• Main Authors: Guo, Ge, Zhang, Xinxin, Liu, Yan-Xi, Zhao, Ziwei, Zhang, Renyongkang, Zhang, Chen-Liang
• Format: Journal Article
• Language: English
• Published: Piscataway IEEE 01.01.2024; The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
• Subjects: Braking; braking control; Control theory; Controllers; Convergence; Cooperative control; Cooperative systems; disturbance observer; Disturbance observers; Intelligent vehicles; Numerical simulation; Platooning; Sliding mode control; terminal siding mode control; Vehicle dynamics; Vehicles; Vehicular platoons
• ISSN: 2379-8858; 2379-8904
• DOI: 10.1109/TIV.2023.3335151

This paper is concerned with a problem of cooperative braking control for a platoon of vehicles subject to external disturbances. To reject the disturbances, a novel disturbance observer that requires no prior knowledge on the derivative of disturbances is developed using the time transformation method. Based on this observer, a distributed platooning controller is derived in the context of terminal sliding mode control theory. It is proved by the proposed controller that all following vehicles can track the leader to reach the target stopping positions (TSPs) with guaranteed stability, and the spacing error between two successive vehicles converges to zero in a finite time. The effectiveness of the proposed scheme, together with the superiority to the existing ones, is verified by numerical simulations.