Design of Switched Fuzzy Adaptive Double Coupled Sliding Mode Control for Vehicles Platoon

Abstract

This paper presents a switched fuzzy adaptive double coupled sliding mode approach for longitudinal control of a platoon with a leader vehicle and multiple followers based on third-order model with bounded external disturbance. For the purpose of avoiding collisions between vehicles, some control strategies are designed to guarantee the strong stability of the whole platoon system. First, in order to guarantee the strong string stability of the platoon system, a condition for coupling coefficients of sliding mode surfaces about adjacent vehicles is given in the paper. Then, the control law employing double coupled sliding mode control is designed for the stability of every vehicle in the platoon and the corresponding theorem is proved in the paper. Moreover, for the development of the chattering problem in the sliding mode control which becomes severe as the boundary of the disturbance increases, a novel switched fuzzy adaptive double coupled sliding mode control is proposed in this paper by using the universal approximation property in fuzzy system. Finally, some numerical examples are finished to verify the validity of the proposed method.