Predictor and ESO-based adaptive tracking control of heterogeneous vehicle platoon

作     者：SUN ZhiZe LIU Yang ZHANG LinChuang 

作者机构：College of Control Science and EngineeringBohai University College of Automation and Electronic EngineeringQingdao University of Science and Technology College of Information Science and TechnologyBohai University 

出 版 物：《Science China Technological Sciences》 (中国科学:技术科学(英文版))

年 卷 期：2024年第67卷第9期

页      面：2842-2852页

核心收录：

学科分类：08[工学] 082304[工学-载运工具运用工程] 080204[工学-车辆工程] 0802[工学-机械工程] 0835[工学-软件工程] 080201[工学-机械制造及其自动化] 0823[工学-交通运输工程] 

基　　金：supported by the National Natural Science Foundation of China(Grant Nos.62373208 and 62003097) the Taishan Scholar Program of Shandong Province of China(Grant No.tsqn202306218) the Talent Introduction and Cultivation Plan for Youth Innovation of Universities in Shandong Province 

主　　题：variable gain NESOs heterogeneous vehicles platoon tracking predictor 

摘      要：This paper investigates the distributed adaptive platoon tracking problem of third-order heterogeneous vehicles subject to model uncertainties. The design process is divided into two steps. Firstly, an adaptive tracking controller is designed for the dynamic leading vehicle. And then, the distributed adaptive controllers are established for followers. Moreover, the predictor technique is used to improve the estimate performance of the adaptive law, and the total disturbance is approximated and compensated by the variable gain nonlinear extended state observers(NESOs) driven by the estimation error. By introducing the variable gain hyperbolic tangent tracking differentiator(HTTD), the “complexity explosion problem is avoided. The feasibility and effectiveness of the proposed protocol are verified by simulation tests.