State-Feedback and Nonsmooth Controller Design for Truck Platoon Subject to Uncertainties and Disturbances

• Published in: World electric vehicle journal Vol. 15; no. 6; p. 251
• Main Authors: Feng, Jianbo, Gao, Zepeng, Guo, Bingying
• Format: Journal Article
• Language: English
• Published: Basel MDPI AG 01.06.2024
• Subjects: Algorithms; Control algorithms; Control methods; Control systems design; Control theory; Controllers; Design; Disturbances; Energy consumption; Error analysis; Feedback control; finite time; nonsmooth; Robust control; State feedback; Traffic; truck platoon; uncertainties and disturbances; Uncertainty; Vehicles; Velocity
• ISSN: 2032-6653; 2032-6653
• DOI: 10.3390/wevj15060251

Intelligent truck platoons can benefit road transportation due to the short gap and better fuel economy, but they are also subject to dynamic uncertainties and external disturbances. Therefore, this paper develops a novel robust control algorithm for connected truck platoons. By introducing a linearized expression method of platoon error dynamics based on state measurement, the state feedback mechanism combined with a nonsmooth controller for a truck platoon is proposed in the development of the distributed control method. The state-feedback controller can drive the nominal platoon system to the state of second-order consensus, and the nonsmooth controller counterparts the uncertainties and disturbances. The convergence and string stability of the proposed control algorithm are demonstrated both theoretically and experimentally, and the effectiveness and robustness are also verified by simulation tests.