Adaptive Finite-Time Prescribed Performance Control of Vehicular Platoons With Multilevel Threshold and Asymptotic Convergence
Zhenyu Gao, Wei Liu, Zhongyang Wei, Ge Guo
Abstract
This paper studies a prescribed performance platoon control of connected vehicles with multiple performance threshold. A continuous gain function is introduced, combining with finite-time performance function, a novel prescribed performance control (PPC) scheme is developed, which makes the tracking error tend to the prescribed region with different threshold within the user-defined time. Then, a new finite-time reaching law is proposed, based on which, an improved finite-time sliding mode platoon control algorithm is proposed. The suggested control strategy not only ensures the two stability indexes of the platoon system, i.e., finite-time individual vehicle stability and finite-time string stability, but also realizes the asymptotic convergence of the spacing tracking error. Eventually, numerical simulations are carried out, based on which, the feasibility of the proposed scheme are validated.