文章基本信息

标题：Sliding Mode Control Using Power Rate Exponential Reaching Law for Urban Platooning
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作者：Ajay G Iyer ; Jagannath Samantaray ; Samsaptak Ghosh 等
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2022
卷号：55
期号：1
页码：516-521
DOI：10.1016/j.ifacol.2022.04.085
语种：English
出版社：Elsevier
摘要：AbstractPlatooning is one of the efficient methods for preventing traffic congestion and achieving improved performance efficiency. It is the process by which vehicles follow their preceding vehicles by maintaining a specified pattern, and distance. If the same process is carried out using autonomous vehicles, then an autonomous platooning is obtained. Due to different vehicle dynamics, terrains, and environmental conditions, the autonomous platooning requires a robust control strategy. In this paper, an observer based sliding mode control with power rate exponential reaching law (PREL) is designed to attain desired pattern of vehicles while keeping a desired safe distance between them. The derived control input is suitable for practical implementation as it is continuous in nature. The proposed approach is compared with the conventional sliding mode control (CSMC) approach with constant reaching law. The convergence of states is derived and the performance of the proposed approach is shown using numerical simulations.
关键词：KeywordsPlatooning controlpower rate exponential reaching lawsliding mode control