Distributed adaptive sliding-mode control for 2-D plane vehicle platoon with prescribed performance and angle...

Area of Science:

• Control Systems Engineering
• Robotics
• Automotive Engineering

Background:

• Vehicle platooning enhances traffic efficiency and safety.
• Controlling multi-vehicle systems in 2-D space presents complex challenges.
• Ensuring prescribed performance and handling actuator faults are critical for reliable platooning.

Purpose of the Study:

• To develop a distributed adaptive sliding-mode control strategy for 2-D vehicle platoons.
• To address prescribed performance, angle constraints, and multiple actuator faults.
• To ensure finite-time convergence of spacing errors and maintain system stability.

Main Methods:

• Adoption of a quadratic spacing policy (QSP) for inter-vehicle spacing adjustment.
• Introduction of a new finite-time performance function (FTPF) and a transformed error function.
• Design of a novel controller using hyperbolic tangent functions to manage actuator faults.
• Application of sliding-mode control for stability and string stability analysis.

Main Results:

• Spacing errors converge to a predefined small region in finite time.
• Angle constraints are effectively managed through an invertible nonlinear mapping.
• The proposed controller successfully handles multiple actuator faults.
• Both system stability and string stability of the 2-D vehicle platoon are achieved.

Conclusions:

• The developed distributed adaptive sliding-mode control strategy is effective for 2-D vehicle platoons.
• The method ensures prescribed performance, handles angle constraints, and mitigates actuator fault impacts.
• Simulation results confirm the robustness and efficiency of the proposed control techniques.