Distributed sliding mode control strategy based on adaptive reaching law for intelligent and connected vehicle platoon car-following system

Abstract

This study investigates the nonlinear sliding mode controller based on car-following system. To address the issues of chattering and finite-time convergence in sliding mode control (SMC), an adaptive SMC based on adaptive theory is proposed. The performance of controller is theoretically analyzed using the Lyapunov function. The analysis indicates that the system can converge within a finite time, and both dynamic performance and robustness are improved. To verify the effectiveness and practicality of the controller, this paper first carried out numerical simulation in MATLAB, and then used four unmanned cars for real car verification. The results show that the controller proposed in this study enables the system to converge within a finite time, greatly reduce the chattering of the system, and reduce the convergence time. The controller ensures the stability of the car-following system, and provides strong resistance to disturbances. The experimental results are consistent with the theoretical analysis.