Robust Cooperative Disturbance Rejection Control For Vehicle Platoon System

In recent years,the traffic congestion arisen from the rapid growth of car ownership is becoming increasingly serious.The automatic driving,which is promoted by new technologies such as information communication and artificial intelligence,is highly expected by researchers.In the industr y,major auto companies and internet companies have joined the "car build ing" boom.The theory and commercialization of automatic driving have been pushed to unprecedented heights.The advantages of intelligence and connection are fully integrated by Connected and Automated vehicles.The vehicle platoon system formed by V2 V communication helps to improve the overall performance of traffic flow.After years of theoretical research,vehicle platoon system has made significant progress and made a breakthrough in the process of commercialization.However,there are few works on the mismatched disturbance in the existing vehicle platoon research,and it is difficult to deal with the closed-loop stability and string stability under the influence of mismatched disturbance.In this paper,the vehicle platoon system is taken as the research object,the vehicle platoon system model under the influence of disturbance is established,and the influence of external disturbance on the closed-loop stability and string stability is studied.According to the different communication topology and tracking strategy in the platoon control,the controller is designed and analyzed theoretically,so as to ensure the performance of the platoon system under the influence of external disturbance.Firstly,a platoon anti-disturbance algorithm based on constant spacing strategy is studied.Aiming at the problem of vehicle platoon cooperative control under the combined influence of mismatched disturbance and matched disturbance,a platoon disturbance rejection controller satisfying the general topology is ob tained by using constant spacing strategy and terminal sliding mode control algorithm based on finite time disturbance observer,which ensures the finite time closed-loop stability.This method solves the problem of closed-loop stability of vehicle platoon under the combined influence of mismatched disturbance and matched disturbance.Then,a platoon anti-disturbance algorithm based on constant time headway strategy is studied.Aiming at the problem of vehicle platoon stability under mismatched disturbances,the constant time headway strategy is adopted,and the coupled sliding mode method is introduced.The frequency response analysis of error propagation under BD topology is realized while the closed-loop stability is guaranteed,and the necessary and sufficient conditions to ensure the platoon stability are given.Furthermore,the method is extended to TPF topology,and the same control effect is obtained.This method solves the problem of closed-loop stability and string stability under the combined influence of mismatched disturbance and matched disturbance.Finally,the cooperative control platform is built to carry out the real vehicle test verification of the cooperative disturbance rejection control algorithm.The simulation results indicate that the proposed method can realize smooth driving in real vehicles,and ensure closed-loop stability and string stability.