Cooperative Platoon Control of Connected and Automated Vehicles Based on Fixed-Time Disturbance Observer

doi:10.12068/j.issn.1005-3026.2024.11.001

Abstract

Abstract:

The cooperative platoon control of connected and automated vehicles with model uncertainties and external disturbances is investigated. A fixed?time disturbance observer （DO） is proposed， with which the compound disturbance （i. e. ， model uncertainties and external disturbances） can be estimated accurately within settling time. Based on the DO， backstepping method and fixed?time theory， a novel controller is further designed to ensure that all signals of the closed?loop system have fixed?time stability， which ensures that the tracking error between vehicles converges to zero within a settling time， and the convergence time only depends on the controller parameters. Through Lyapunov stability theory， both individual vehicle stability and string stability are guaranteed. Finally， a simulation of five?vehicle platoon control verifies the effectiveness of the proposed scheme.

Key words: connected and automated vehicle, platoon control, disturbance observer, fixed?time control, backstepping control

CLC Number:

U 492.2

Xiang LI, Zhen-chao SUN, Zhen-yu GAO. Cooperative Platoon Control of Connected and Automated Vehicles Based on Fixed-Time Disturbance Observer[J]. Journal of Northeastern University(Natural Science), 2024, 45(11): 1521-1528.

Figures/Tables 18

Fig.1 Configuration of homogeneous CAV

Fig.2 Position xi(t) of each vehicle

Fig.3 Velocity vi(t) of each vehicle

Fig.4 Acceleration ai(t) of each vehicle

Fig.5 Control input ui(t) of each vehicle

Fig.6 Tracking error ei(t) of each vehicle

Fig.7 Virtual error zi(t) of each vehicle

Fig.8 Actual disturbance ωi(t) and estimated disturbance ω^i(t) of each vehicle

Fig.9 Position xi(t) of each vehicle

Fig.10 Velocity vi(t) of each vehicle

Fig.11 Acceleration ai(t) of each vehicle

Fig.12 Control input ui(t) of each vehicle

Fig.13 Tracking error ei(t) of each vehicle

Fig.14 Virtual error zi(t) of each vehicle

Fig.15 Actual disturbance ωi(t) and estimated disturbance ω^i(t) of each vehicle

Fig.16 Actual disturbance ωi(t) and estimated disturbance ω^i(t) based on fixed?time DO

Fig.17 Actual disturbance ωi(t) and estimated disturbance ω^i(t) based on traditional DO

Fig.18 Tracking error ei(t) of different initial positions

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