| A Novel Sliding Mode Control Strategy for Heterogeneous Vehicle Platoons Based on an Improved CTH Policy |
| Chunjie Zhai1, Yixiao Zhan1, Haojie Zhou2, Bo Wang1, Xiang Long2, Chuqiao Chen3, Jize He1 |
1School of Automation, Hangzhou Dianzi University, Hangzhou 310000, China
2The ITMO Joint Institute, Hangzhou Dianzi University, Hangzhou 310000, China
3School of Cyberspace Security, Hangzhou Dianzi University, Hangzhou 310000, China |
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Received: August 1, 2024; Revised: December 2, 2024 Accepted: December 3, 2024. Published online: February 2, 2025. |
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| ABSTRACT |
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In this paper, a novel sliding mode control (NSMC) strategy is developed to ensure both the internal stability and string stability of heterogeneous vehicle platoons with parameter uncertainties and external disturbances in finite time. Specifically, an improved constant time headway (ICTH) policy is first introduced as a solution to eliminate non-zero initial conditions while increasing traffic density without extra communication burdens. Then a NSMC strategy with the disturbance observer is proposed. In addition to ensuring platoon stability, the combination of a continuous super-twisting algorithm and disturbance observer significantly improves the convergence rate and chattering alleviation. Finally, numerical simulations are conducted for validation and comparison of the effectiveness of NSMC strategy, and it can be found that the transient and steady-state performance is greatly enhanced under the ICTH policy. Furthermore, it is worth mentioning that the proposed NSMC strategy based on the ICTH policy only requires basic communication with the preceding vehicle and does not rely on the platoon length, which effectively avoids potential network-induced problems (e.g., time delay and packet loss) and reduces communication burden. |
| Key Words:
Heterogeneous vehicle platoon · Sliding mode control · Disturbance observer · Improved constant time headway policy |
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Corresponding Author.
Chunjie Zhai , Email. 
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