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Intelligent Bus Platoon Lateral and Longitudinal Control Method Based on Finite-Time Sliding Mode

Considering the rapid convergence of the longitudinal and lateral tracking errors of the platoon, a finite-time tracking control method for the longitudinal and lateral directions of the intelligent bus platoon is proposed. Based on the bus platoon model and desired motion trajectory, a distributed...

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Detalles Bibliográficos
Autores principales: Yu, Lingli, Bai, Yu, Kuang, Zongxv, Liu, Chongliang, Jiao, Hao
Formato: Online Artículo Texto
Lenguaje:English
Publicado: MDPI 2022
Materias:
Acceso en línea:https://www.ncbi.nlm.nih.gov/pmc/articles/PMC9103324/
https://www.ncbi.nlm.nih.gov/pubmed/35590825
http://dx.doi.org/10.3390/s22093139
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author Yu, Lingli
Bai, Yu
Kuang, Zongxv
Liu, Chongliang
Jiao, Hao
author_facet Yu, Lingli
Bai, Yu
Kuang, Zongxv
Liu, Chongliang
Jiao, Hao
author_sort Yu, Lingli
collection PubMed
description Considering the rapid convergence of the longitudinal and lateral tracking errors of the platoon, a finite-time tracking control method for the longitudinal and lateral directions of the intelligent bus platoon is proposed. Based on the bus platoon model and desired motion trajectory, a distributed longitudinal and lateral finite-time sliding mode tracking control framework of the platoon is designed. Considering the finite-time convergence of the sliding mode of the system, a nonsingular integral terminal sliding mode (NITSM) is designed. An adaptive power integral reaching law (APIRL) is proposed for the finite-time accessibility of the system approaching mode. Based on NITSM-APIRL, a distributed longitudinal and lateral finite-time sliding mode tracking controller for the bus platoon is designed, and a Lyapunov function is created to analyze the finite-time stability and string stability of the system. Based on the Trucksim/Simulink joint simulation experiment platform, the control performance of the method is contrasted with the existing methods, and the actual vehicle test verification is completed by relying on the National Intelligent Connected Vehicle testing zone, which proves the practicability of the method.
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spelling pubmed-91033242022-05-14 Intelligent Bus Platoon Lateral and Longitudinal Control Method Based on Finite-Time Sliding Mode Yu, Lingli Bai, Yu Kuang, Zongxv Liu, Chongliang Jiao, Hao Sensors (Basel) Article Considering the rapid convergence of the longitudinal and lateral tracking errors of the platoon, a finite-time tracking control method for the longitudinal and lateral directions of the intelligent bus platoon is proposed. Based on the bus platoon model and desired motion trajectory, a distributed longitudinal and lateral finite-time sliding mode tracking control framework of the platoon is designed. Considering the finite-time convergence of the sliding mode of the system, a nonsingular integral terminal sliding mode (NITSM) is designed. An adaptive power integral reaching law (APIRL) is proposed for the finite-time accessibility of the system approaching mode. Based on NITSM-APIRL, a distributed longitudinal and lateral finite-time sliding mode tracking controller for the bus platoon is designed, and a Lyapunov function is created to analyze the finite-time stability and string stability of the system. Based on the Trucksim/Simulink joint simulation experiment platform, the control performance of the method is contrasted with the existing methods, and the actual vehicle test verification is completed by relying on the National Intelligent Connected Vehicle testing zone, which proves the practicability of the method. MDPI 2022-04-20 /pmc/articles/PMC9103324/ /pubmed/35590825 http://dx.doi.org/10.3390/s22093139 Text en © 2022 by the authors. https://creativecommons.org/licenses/by/4.0/Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (https://creativecommons.org/licenses/by/4.0/).
spellingShingle Article
Yu, Lingli
Bai, Yu
Kuang, Zongxv
Liu, Chongliang
Jiao, Hao
Intelligent Bus Platoon Lateral and Longitudinal Control Method Based on Finite-Time Sliding Mode
title Intelligent Bus Platoon Lateral and Longitudinal Control Method Based on Finite-Time Sliding Mode
title_full Intelligent Bus Platoon Lateral and Longitudinal Control Method Based on Finite-Time Sliding Mode
title_fullStr Intelligent Bus Platoon Lateral and Longitudinal Control Method Based on Finite-Time Sliding Mode
title_full_unstemmed Intelligent Bus Platoon Lateral and Longitudinal Control Method Based on Finite-Time Sliding Mode
title_short Intelligent Bus Platoon Lateral and Longitudinal Control Method Based on Finite-Time Sliding Mode
title_sort intelligent bus platoon lateral and longitudinal control method based on finite-time sliding mode
topic Article
url https://www.ncbi.nlm.nih.gov/pmc/articles/PMC9103324/
https://www.ncbi.nlm.nih.gov/pubmed/35590825
http://dx.doi.org/10.3390/s22093139
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