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

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  • Zhuang, Yunlong
  • Song, Tao
  • Zhu, Wen-Xing

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.

Suggested Citation

  • Zhuang, Yunlong & Song, Tao & Zhu, Wen-Xing, 2025. "Distributed sliding mode control strategy based on adaptive reaching law for intelligent and connected vehicle platoon car-following system," Physica A: Statistical Mechanics and its Applications, Elsevier, vol. 669(C).
    • Handle: RePEc:eee:phsmap:v:669:y:2025:i:c:s037843712500281x
    DOI: 10.1016/j.physa.2025.130629
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    References listed on IDEAS

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    1. Cheng-Ju Song & Hong-Fei Jia, 2022. "Car-Following Model Optimization and Simulation Based on Cooperative Adaptive Cruise Control," Sustainability, MDPI, vol. 14(21), pages 1-12, October.
    2. Zhu, Wen-Xing & Zhang, H.M., 2018. "Analysis of feedback control scheme on discrete car-following system," Physica A: Statistical Mechanics and its Applications, Elsevier, vol. 503(C), pages 322-330.
    3. Yu, Shaowei & Huang, Mengxing & Ren, Jia & Shi, Zhongke, 2016. "An improved car-following model considering velocity fluctuation of the immediately ahead car," Physica A: Statistical Mechanics and its Applications, Elsevier, vol. 449(C), pages 1-17.
    4. Song, Tao & Zhu, Wen-Xing, 2022. "Analysis of feed-forward control effect on autonomous driving car-following system," Physica A: Statistical Mechanics and its Applications, Elsevier, vol. 598(C).
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