| Title |
Disturbance Observer-Based Integral Sliding Mode Control for Bidirectional Platooning of Vehicles with Unknown Accelerations and Disturbances |
| Authors |
부준석(Junseok Boo) ; 홍상기(Sang Gi Hong) ; 전지훈(Ji Hun Jeon) ; 신동범(Dong-Beom Shin) ; 배명남(Myung Nam Bae) ; 김은주(Eun Joo Kim) ; 이강복(Kang Bok Lee) |
| DOI |
https://doi.org/10.5370/KIEE.2025.74.11.1950 |
| Keywords |
Bidirectional platoon; Disturbance observer; Integral sliding mode control; Matched and mismatched disturbances; Modified constant time-headway policy; Uncertain acceleration. |
| Abstract |
This paper proposes a disturbance observer-based integral sliding mode control for bidirectional vehicle platooning under uncertain acceleration and both matched and mismatched disturbances. The platoon dynamics explicitly incorporate these disturbances, and a modified constant time-headway policy is adopted to define the spacing error without relying on acceleration measurements, thereby mitigating the effects of initial spacing and velocity errors. Based on this, coupled integral sliding mode dynamics are derived, and a finite-time stable disturbance observer-based bidirectional platoon controller is designed to compensate for lumped uncertainties, enhancing overall system robustness. The proposed controller is mathematically proven to guarantee both stability and string stability, and its performance is further validated through numerical simulations. |