Unmanned Vehicle Platoon Control Based On Adaptive Sliding Mode

With the rapid development of intelligent transportation system research,the formation of driverless vehicles is one of the research hotspots in the field of control.In recent years,it has achieved fruitful results in theory and practical application.Among them,the platoon control of driverless cars is an important research direction.In this paper,considering the randomness of the initial state of the vehicle system and the incompatibility of the existing heel strategy under complex road conditions,the adaptive sliding mode control method is used to solve platoon control of the unmanned vehicle.Mainly carried out the following research content.Firstly,the experimental platform of unmanned car platoon control is built.The platform consists of visual positioning system,wireless communication system and unmanned vehicle control system,which provides experimental basis for the research of subsequent adaptive sliding mode platoon control algorithm.Secondly,based on the idea of acceleration feedback,combined with finite time control theory and adaptive sliding mode control algorithm,a finite-time adaptive sliding mode control algorithm is proposed,which is applied to the platoon control of vehicles.The paper analyzes whether the initial steady-state error of the system is zero or not,and proposes a new system error definition method to convert the non-zero initial steady-state error into the initial steady-state error.At the same time,the controller introduces a class S function to effectively alleviate the chattering phenomenon in sliding mode control,and realize the stable control of vehicle platoon.The effectiveness and practical applicability of the algorithm are verified by simulation and experiment.Finally,aiming at the platoon control problem of vehicles under complex road conditions,an adaptive sliding mode platoon control method based on delayed heel strategy is proposed.Different from the time consistency of each state of the vehicle system in the existing research,this paper uses a spatial domain analysis method to analyze the chain formation control problem,so as to design the controller to achieve the spatial consistency of each vehicle state,and achieve the vehicle platoon control.Thestability of the control.At the same time,a disturbance string stability analysis method is proposed to analyze the string stability.Verify the proposed control method by simulation.And,the practical applicability of the algorithm is verified by experiments.