Finite-Time Stabilization of a Collection of Connected Vehicles Subject to Communication Interruptions

• Published in: IEEE transactions on intelligent transportation systems Vol. 23; no. 8; pp. 10627 - 10635
• Main Authors: Guo, Ge, Kang, Jian, Lei, Hongbo, Li, Dandan
• Format: Journal Article
• Language: English
• Published: New York IEEE 01.08.2022; The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
• Subjects: Adaptive control; Algorithms; Asymptotic stability; Control methods; Control systems; Control theory; cooperative adaptive cruise control; Cooperative control; Cruise control; finite-time stability; Heterogeneous platoon; Platooning; Sliding mode control; Stability criteria; Steady-state; Switches; switching control; Tracking control; Tracking errors; Vehicle dynamics; Vehicles
• ISSN: 1524-9050; 1558-0016
• DOI: 10.1109/TITS.2021.3095147

This paper investigates a platooning problem of connected vehicles subject to communication interruptions and latency. For a heterogeneous platoon of vehicles, a hybrid reference model with cooperative adaptive cruise control (CACC) and adaptive cruise control (ACC) is established. Then a novel CACC-ACC switching control method is suggested, which activates either a CACC scheme or an augmented ACC strategy depending on the status of communications. By introducing a platoon state tracking error system, a control algorithm is derived using finite-time sliding-mode control theory, which can robustly guarantee string stability and zero steady-state spacing error of the vehicular platoon. Simulations have shown the effectiveness and superiority of the method.