Neural Adaptive Sliding-Mode Control of a Bidirectional Vehicle Platoon with Velocity Constraints and Input Saturation

• Published in: Complexity (New York, N.Y.) Vol. 2018; no. 2018; pp. 1 - 11
• Main Authors: Zuo, Lei, Yang, Panpan, Song, Jiacheng, Yan, Maode
• Format: Journal Article
• Language: English
• Published: Cairo, Egypt Hindawi Publishing Corporation 01.01.2018; Hindawi; John Wiley & Sons, Inc; Wiley
• Subjects: Adaptive algorithms; Adaptive control; Algorithms; Analysis; Anti-windup; Basis functions; Communication; Computer simulation; Control algorithms; Control theory; Controllers; Dynamic models; Neural networks; Numerical analysis; Radial basis function; Saturation; Sliding mode control; Stability; Vehicles; Velocity
• ISSN: 1076-2787; 1099-0526
• DOI: 10.1155/2018/1696851

This paper investigates the vehicle platoon control problems with both velocity constraints and input saturation. Firstly, radial basis function neural networks (RBF NNs) are employed to approximate the unknown driving resistance of a vehicle’s dynamic model. Then, a bidirectional topology, where vehicles can only communicate with their direct preceding and following neighbors, is used to depict the relationship among the vehicles in the platoon. On this basis, a neural adaptive sliding-mode control algorithm with an anti-windup compensation technique is proposed to maintain the vehicle platoon with desired distance. Moreover, the string stability and the strong string stability of the whole vehicle platoon are proven through the stability theorem. Finally, numerical simulations verify the feasibility and effectiveness of the proposed control method.