Distributed adaptive sliding-mode control for 2-D plane vehicle platoon with prescribed performance and angle constraint.

This paper focuses on the distributed adaptive sliding-mode control problem for two-dimensional (2-D) plane vehicle platoon with prescribed performance, angle constraints, and actuator faults. The quadratic spacing policy (QSP) is first adopted for the 2-D plane vehicle platoon to adjust the inter-vehicle spacing. The spacing error can converge within a finite time to the small region predetermined by a new finite-time performance function (FTPF). Meanwhile, a new transformed error function is introduced to convert the FTPF-constrained spacing errors into equivalent unconstrained ones. Besides, the property of the invertible nonlinear mapping function is used for the original system with the angle constraint to get a new unconstrained system. Moreover, a new controller based on hyperbolic tangent function is designed to handle actuator faults occurring multiple times over a period. Furthermore, the stability and string stability of the 2-D plane vehicle platoon are achieved through sliding-mode control. Finally, the simulation results validate the effectiveness of the proposed techniques.
Competing Interests: Declaration of competing interest The authors declare that they have no known competing financial interests or personal relationships that could have appeared to influence the work reported in this paper.
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