Improved LESO-based distributed adaptive fixed-time tracking control for vehicle platoon system with input saturation

Abstract

With the continuous advancement of technology and the expansion of applications, vehicle platoon control is an important technology for improving road traffic efficiency and saving energy consumption. This paper proposes a distributed adaptive fixed-time disturbance rejection tracking control strategy with input saturation based on an improved linear extended state observer (LESO), ensuring the convergence of the tracking error. Firstly, a fixed-time controller is constructed to ensure that the system achieves the expected performance. The singularity problems in fixed-time control are effectively solved through power transformation schemes and the use of an input saturation estimator avoids the occurrence of input saturation phenomenon. With the help of the principle of deviation control, the deviation between the state variables and their observed values in LESO is improved. Theoretical proof and simulation demonstrate that the improved LESO can achieve better estimation accuracy. Finally, the control strategy is implemented to the vehicle platoon systems, and simulation results confirm the performance of the control strategy.