BROWSE
Detail
Journal Article
불확실한 가속도와 외란을 갖는 차량의 외란 관측기 기반 적분 슬라이딩 모드 양방향 플래툰 제어
- Issue Date
- 2025-11
- Citation
- 전기학회논문지, v.74, no.11, pp.1950-1957
- ISSN
- 1975-8359
- Publisher
- 대한전기학회
- Language
- Korean
- Type
- Journal Article
- Abstract
- This paper proposes a disturbance observer-based integral sliding mode control for bidirectional vehicle platooning under uncertain acceleration and both matched and mismatched disturbances. The platoon dynamics explicitly incorporate these disturbances, and a modified constant time-headway policy is adopted to define the spacing error without relying on acceleration measurements, thereby mitigating the effects of initial spacing and velocity errors. Based on this, coupled integral sliding mode dynamics are derived, and a finite-time stable disturbance observer-based bidirectional platoon controller is designed to compensate for lumped uncertainties, enhancing overall system robustness. The proposed controller is mathematically proven to guarantee both stability and string stability, and its performance is further validated through numerical simulations.
- KSP Keywords
- Acceleration measurements, Constant time, Mismatched disturbances, Numerical simulation(Trnsys16), Observer-based, Overall system, String stability, Vehicle platooning, Velocity errors, disturbance observer(DOB), finite-time stable
This work is distributed under the term of Creative Commons License (CCL)
(CC BY NC)
(CC BY NC)
