Fuzzy Adaptive Coupled Sliding Mode Control For A Platoon Of Vehicles

As the social problems growing,such as traffic jams,environmental pollution,resource waste,etc.The automated highway system(AHS)arises at the historic moment which applying various kinds of high and new technology.As the main part of AHS,Intelligent vehicle's longitudinal driving is the main form of the whole process.So the intelligent vehicles' longitudinal control have been an important field of the AHS,To guarantee the vehicles' team stabled not only can improve the safety of our road,but also can reduce fuel consumption and exhaust emissions.In this paper.The mathematic model been built for a longitudinal vehicles' team.The main research results summarized as follows:In order to guarantee strong string stability of the platoon-control systems,the coupled sliding mode control(CSMC)method was been used on the second order model platoon-control system.In views of the acceleration tracking of this system model can't been guaranteed,a third order system model is been build,and the coupled sliding mode control method also been used to control the longitudinal vehicles'platoon-control system.At last,with the simulation results compared the effectiveness of this method can be illustrated.Due to the design of the coupled sliding mode control method is sensitive to the order of system,and the fuzzy controller has no effect on the controlled object,the three-dimensional fuzzy controller was applied to the longitudinal vehicles,platoon-control system.As the increase of the dimension,the number of the fuzzy rules rapid increase at the same time.The control rules are hardly to make up and the control algorithm is hard to carry out,so a method for multiple dimension fuzzy controller is put forward,the multiple dimensional fuzzy controller can be simplified into a few combination form of two-dimensional fuzzy controller.Next,the coupled sliding mode control method can be applied in the fuzzy controller.At last,the advantage of this method is showing by the simulation results.When the interference of environment have significant effects on the vehicle system,the switch gain of CSMC increasing at the same time,the system will chattering,in this paper,the universal approximation ability of fuzzy system is applied in CSMC,the switch gain of CSMC is estimated by fuzzy system,ensure the gain approaching to a constant,this way the chattering can be reduced effectively.At the end of the paper the deficiencies be summarized and the future research direction is point out.