Fast Distributed Platooning of Connected Vehicular Systems With Inaccurate Velocity Measurement
针对速度测量不准确问题，提出基于分数阶快速非奇异终端滑模的扩展状态观测器和控制算法，实现互联车辆系统的快速编队和串稳定性，适用于智能交通系统研究。
Fast and smooth driving is a preferable consideration in platooning algorithm development for intelligent autonomous vehicular systems. It can improve traffic efficiency while guaranteeing passenger comfort. To this end, this work investigates the fast distributed platooning problem of connected vehicular systems. Taking the inaccurate velocity measurement into consideration, an extended state observer (ESO) based on a fractional order faster nonsingular terminal sliding mode (FNTSM) is proposed for velocity and disturbance estimation simultaneously. An FNTSM control algorithm based on the double power reaching law is developed to reach fast platooning while guaranteeing string stability of the connected vehicular systems regardless of zero or nonzero initial spacing error conditions. The salient features of the proposed platoon controller are that system convergence can be achieved in finite time and the time-varying external disturbances can be estimated accurately. Finally, simulation and experiment studies are conducted to demonstrate the effectiveness and efficiency of the proposed control algorithm.