Research on feedback linearization sliding mode control based on vehicle platoon

Xiaopeng Zhao; Guoquan Wang

doi:10.1117/12.3039676

28 August 2024 Research on feedback linearization sliding mode control based on vehicle platoon

Xiaopeng Zhao, Guoquan Wang

Proceedings Volume 13251, Ninth International Conference on Electromechanical Control Technology and Transportation (ICECTT 2024); 132514A (2024) https://doi.org/10.1117/12.3039676
Event: 9th International Conference on Electromechanical Control Technology and Transportation (ICECTT 2024), 2024, Guilin, China

Abstract

Traditional control strategies in vehicle platoon control problems often fail to meet the requirements of system robustness and high-accuracy tracking at the same time, especially when facing external disturbances and model uncertainties. To address this issue, a feedback linearization-based sliding mode control scheme is designed. The feedback linearization part transforms the nonlinear system of vehicle platoon into a linear system and compensates for external disturbances using sliding mode variable structure theory [3]. A dynamic model, structural model, and control model of a vehicle platoon are built in the CarSim-Simulink co-simulation environment to validate the proposed control algorithm. Simulation results show that the following vehicle's lateral and longitudinal tracking errors relative to the leading vehicle are within 10^-2 meters, and the feedback linearization sliding mode control scheme performs better in maintaining platoon stability, response speed, and reducing energy consumption.

(2024) Published by SPIE. Downloading of the abstract is permitted for personal use only.

Citation Download Citation

Xiaopeng Zhao and Guoquan Wang "Research on feedback linearization sliding mode control based on vehicle platoon", Proc. SPIE 13251, Ninth International Conference on Electromechanical Control Technology and Transportation (ICECTT 2024), 132514A (28 August 2024); https://doi.org/10.1117/12.3039676

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