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Detail
Journal Article
Mesh Stability of Uncertain Platoon Vehicles With Cornering Maneuver Using Relative Posture Error Information
- Authors
- Junseok Boo, Kangmin Jo, Dongkyoung Chwa
- Issue Date
- 2026-02
- Citation
- IEEE Access, v.14, pp.30006-30020
- ISSN
- 2169-3536
- Publisher
- IEEE
- Language
- English
- Type
- Journal Article
- Abstract
- This paper presents a robust bidirectional platoon control method based on coupled relative posture errors to achieve mesh stability of connected vehicles under kinematic and dynamic disturbances. Platoon control for connected and automated vehicles must guarantee safe intervehicle distances and desired heading angles on a two-dimensional (2D) plane, even in the presence of modeling uncertainties and external disturbances. However, most existing studies focus on string stability in either the longitudinal or lateral direction; consequently, bidirectional error propagation on a plane, combined kinematic and dynamic disturbances, and path departure during curved maneuvers are not sufficiently addressed. To overcome these limitations, this paper proposes a robust platoon control framework that guarantees mesh stability and asymptotic convergence of relative posture errors to zero using only relative posture information. Coupled relative posture error dynamics are derived to analyze error propagation on a 2D plane, and a novel robust bidirectional platoon controller employing an adaptive integral sliding mode disturbance observer (AISMDOB) is proposed to ensure asymptotic convergence of both relative spacing and heading angle errors to zero while compensating for kinematic and dynamic disturbances. In addition, an extended look-ahead strategy based on relative posture errors is introduced to prevent path departure during curved maneuvers while relying solely on local onboard sensors instead of global positioning information. Simulation and experimental results demonstrate that the proposed method reduces average relative spacing errors by approximately 29% in simulation and 25% in experiments, and heading angle errors by approximately 9% and 29%, respectively, compared with existing methods.
- Keyword
- Adaptive integral sliding mode disturbance observer (AISMDOB), coupled relative posture error dynamics, extended look-ahead, mesh stability, robust bidirectional platoon control
- KSP Keywords
- 2D Plane, Asymptotic convergence, Connected and Automated Vehicles, Dynamic disturbances, Error dynamics, Global positioning, Heading angle, Look-ahead, Onboard sensors, Relative spacing, String stability
This work is distributed under the term of Creative Commons License (CCL)
(CC BY NC ND)
(CC BY NC ND)
