Distributed Cooperative Compound Tracking Control for a Platoon of Vehicles With Adaptive NN
针对车辆队列的协同跟踪问题，提出一种复合跟踪控制方法，同时实现实际有限时间稳定和渐近收敛，并设计了一种收敛速度更快的有限时间性能函数，利用自适应神经网络和反步法设计分布式协同协议。
This article focuses on the distributed cooperative compound tracking issue of the vehicular platoon. First, a definition, called compound tracking control, is proposed, which means that the practical finite-time stability and asymptotical convergence can be simultaneously satisfied. Then, a modified performance function, named finite-time performance function, is designed, which possesses the faster convergence rate compared to the existing ones. Moreover, the adaptive neural network (NN), prescribed performance technique, and backstepping method are utilized to design a distributed cooperative regulation protocol. It is worth noting that the convergence time of the proposed algorithm does not depend on the initial values and design parameters. Finally, simulation experiments are given to further verify the effectiveness of the presented theoretical findings.