Stability Analysis for Vehicular Platooning Subjects to Disturbances

Abstract

Abstract In our work, a control problem of vehicular communications platooning, subject to disturbances, is researched. To eliminate the spacing errors of the platooning, a novel effective non-singular terminal sliding-mode control (TSMC) law is designed for the following vehicles, where the problem of singularity is addressed. Furthermore, a coupled sliding-mode surface is presented for vehicular platooning. Then, based on Lyapunov stability theory, the spacing errors for the platooning can be forced into the designed TSMC surface in finite time and finally reach zero. The string stability of the platooning is also proven via a series of Laplace transforms. Finally, the validity of the proposed law in dealing with disturbances is expressed in simulation results.