| COOPERATIVE ADAPTIVE SLIDING MODE PLATOON CONTROL OF
INTELLIGENT CONNECTED VEHICLES UNDER COMMUNICATION
INTERRUPTION |
| Guichuan Liu , Rongchen Zhao , Ming Su |
| School of Mechanical and Electrical Engineering, Guizhou Normal University |
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| ABSTRACT |
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This paper tackles the problem of intelligent connected vehicles platoon stability for the vehicle cooperative
control system in the presence of communication interruption. Firstly, a vehicle platoon system is formulated into a
third-order nonlinear dynamics model, in which the influence of the nonlinear terms is eliminated by using the feedback
linearization method. Then, a novel cruise control strategy is developed by a minimum safe distance for switching from the
Cooperative adaptive cruise control to Adaptive cruise control to deal with the communication interruption. Moreover, under
the communication topology of a bi-directional leader following, an adaptive sliding mode controller is proposed in order to
guarantee that 1) the spacing error of the vehicle platoon converges on a neighborhood of zero, whose fluctuation is also
reduced, improving the traffic throughput; 2) A sufficient condition of the vehicle platoon stability is derived based on the
frequency domain analysis method and the final value theorem. Finally, the numerical simulation of the proposed cruise
control strategy and controller is conducted to validate the theoretical analysis. |
| Key Words:
Communication interruption, Minimum safe distance, Cooperative adaptive cruise control, Bi-directional
leader following, Adaptive sliding mode controller, Spacing error |
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Corresponding Author.
Rongchen Zhao , Email. 
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