Graphical Abstract Figure
Abstract
This study presents a control strategy employing a hybrid backstepping and sliding mode control (BSMC) approach for automated platoons. The control scheme integrates an exponential spacing policy tailored to varying driving conditions and vehicle constraints. We introduce an interval type-2 fuzzy logic system (IT2FLS) to approximate the unknown nonlinear driving resistance term. This technique yields interval outputs, incorporating uncertain mean and standard deviation in the membership functions of inputs, thereby enhancing the system’s adaptability. We include a prescribed performance control using an asymmetric prescribed performance function to ensure string stability and confine spacing errors within a desired range. This technique eliminates the need for complex Laplace transform computations to check string stability. To validate the robustness of the proposed controller, we conduct simulations under fault and fault-free conditions, demonstrating the efficacy of the proposed approach.
References
1.
Gao
, Z.
, Wang
, J.
, Dong
, J.
, and Chen
, L.
, 2019
, “Traffic Oscillations Mitigation in Vehicle Platoon Using a Car Following Control Model for Connected and Autonomous Vehicle
,” J. Adv. Transp.
, 2019
(1
), pp. 1
–12
. 2.
Negash
, N. M.
, and Yang
, J.
, 2023
, “Driver Behavior Modeling Toward Autonomous Vehicles: Comprehensive Review
,” IEEE Access
, 11
, pp. 22788
–22821
. .3.
Zhang
, L.
, Chen
, F.
, Ma
, X.
, and Pan
, X.
, 2020
, “Fuel Economy in Truck Platooning: A Literature Overview and Directions for Future Research
,” J. Adv. Transp.
, 2020
(1
), pp. 1
–10
. 4.
Chen
, J.
, Zhou
, Y.
, and Liang
, H.
, 2019
, “Effects of ACC and CACC Vehicles on Traffic Flow Based on an Improved Variable Time Headway Spacing Strategy
,” IET Intell. Transp. Syst.
, 13
(9
), pp. 1365
–1373
. 5.
Lee
, S.
, Oh
, C.
, and Lee
, G.
, 2019
, “Impact of Automated Truck Platooning on the Performance of Freeway Mixed Traffic Flow
,” J. Adv. Transp.
, 2021
(1
), pp. 1
–13
. 6.
Feng
, S.
, Zhang
, Y.
, Li
, S.
, Cao
, Z.
, Liu
, H.
, and Li
, L.
, 2019
, “String Stability for Vehicular Platoon Control: Definitions and Analysis
,” Annu. Rev. Control
, 47
, pp. 81
–97
. .7.
Darbha
, S.
, Konduri
, S.
, and Pagilla
, P.
, 2018
, “Benefits of V2V Communication for Autonomous and Connected Vehicles
,” IEEE Trans. Intell. Transp. Syst.
, 20
(5
), pp. 1954
–1963
. 8.
Song
, J.
, and Ju
, Y.
, 2020
, “Distributed Adaptive Sliding Mode Control for Vehicle Platoon With Uncertain Driving Resistance and Actuator Saturation
,” Complexity
, 2020
(1
), pp. 1
–12
. 9.
Guo
, G.
, and Li
, D.
, 2019
, “Adaptive Sliding Mode Control of Vehicular Platoons With Prescribed Tracking Performance
,” IEEE Trans. Veh. Technol.
, 68
(8
), pp. 7511
–7520
. 10.
Swaroop
, D.
, and Rajagopal
, K.
, 2001
, “A Review of Constant Time Headway Policy for Automatic Vehicle Following
,” 2001 IEEE Intelligent Transportation Systems. Proceedings (Cat. No. 01TH8585), pp. 65
–69
, Paper No. 0-7803-7194-1.11.
Guo
, L.
, Ge
, P.
, and Sun
, D.
, 2020
, “Variable Time Headway Autonomous Emergency Braking Control Algorithm Based on Model Predictive Con- Trol
,” 2020 Chinese Automation Congress (CAC), pp. 1794
–1798
, Paper No. 20400146.12.
Zhao
, Q.
, Zheng
, H.
, Kaku
, C.
, Cheng
, F.
, and Zong
, C.
, 2023
, “Safety Spacing Control of Truck Platoon Based on Emergency Braking Under Different Road Conditions
,” SAE Int. J. Veh. Dyn. Stab. NVH
, 7
(1
), pp. 69
–81
. 13.
Orosz
, G.
, 2016
, “Connected Cruise Control: Modelling, Delay Effects, and Nonlinear Behaviour
,” Veh. Syst. Dyn.
, 54
(8
), pp. 147
–1176
. 14.
Sungu
, H.
, Inoue
, M.
, and Imura
, I.
, 2015
, “Nonlinear Spacing Policy Based Vehicle Platoon Control for Local String Stability and Global Traffic Flow Stability
,” 2015 European Control Conference (ECC), pp. 3396
–3401
, Paper No. 15603914.15.
Ge
, J.
, and Orosz
, G.
, 2017
, “Optimal Control of Connected Vehicle Systems With Communication Delay and Driver Reaction Time
,” IEEE Trans. Intell. Transp. Syst.
, 18
(8
), pp. 2056
–2070
. 16.
Xu
, L.
, Zhuang
, W.
, Yin
, G.
, and Bian
, C.
, 2018
, “Stable Longitudinal Control of Heterogeneous Vehicular Platoon With Disturbances and Information Delays
,” IEEE Access
, 6
, pp. 69794
–69806
. .17.
Ma
, G.
, 2021
, “Robust Control and Optimization for Autonomous and Connected Vehicle Platoons With Vehicle-to-Vehicle Communication Delay
,” J. Transp. Eng. Part A: Syst.
, 147
(8
), p. 04021042
. 18.
Hu
, J.
, Bhowmick
, P.
, Arvin
, F.
, Lanzon
, A.
, and Lennox
, B.
, 2020
, “Cooperative Control of Heterogeneous Connected Vehicle Platoons: An Adaptive Leader-Following Approach
,” IEEE Robot. Autom. Lett.
, 5
(2
), pp. 977
–984
. 19.
Wang
, P.
, Deng
, H.
, Zhang
, J.
, Zhang
, M.
, and Li
, Y.
, 2021
, “Model Predictive Control for Connected Vehicle Platoon Under Switching Communication Topology
,” IEEE Trans. Intell. Transp. Syst.
, 23
(7
), pp. 7817
–7830
. 20.
Yan
, M.
, Ma
, W.
, Zuo
, L.
, and Yang
, P.
, 2020
, “Distributed Model Predictive Control for Platooning of Heterogeneous Vehicles With Multiple Constraints and Communication Delays
,” J. Adv. Transp.
, 2020
(1
), pp. 1
–16
. 21.
Xia
, Q.
, Gao
, F.
, Duan
, J.
, and He
, Y.
, 2017
, “Decoupled Control of Automated Vehicular Platoons With Complex Interaction Topologies
,” IET Intell. Transp. Syst.
, 11
(2
), pp. 92
–101
. 22.
Zheng
, Y.
, Li
, S.
, Li
, K.
, and Ren
, W.
, 2018
, “Platooning of Connected Vehicles With Undirected Topologies: Robustness Analysis and Distributed H-Infinity Controller Synthesis
,” IEEE Trans. Intell. Transp. Syst.
, 19
(5
), pp. 1353
–1364
. 23.
Negash
, N. M.
, and Yang
, J.
, 2022
, “Coupled Integral Sliding Mode Control for Bidirectional Automated Platoon With an Exponential Spacing Policy and Uncertainty Approximation
,” Proceedings of the ASME IDETC/CIE, p. V001T01A005
, Paper No. DETC2022-90810.24.
Wang
, W.
, Han
, B.
, Guo
, Y.
, Luo
, X.
, and Yuan
, M.
, 2020
, “Fault-Tolerant Platoon Control of Autonomous Vehicles Based on Event-Triggered Control Strategy
,” IEEE Access
, 8
, pp. 25122
–25134
. 25.
Bansal
, K.
, and Mukhija
, P.
, 2020
, “Event-Triggered Control of Vehicular Platoon System With Time-Varying Delay and Sensor Faults
,” J. Autom. Eng.
, 234
(14
), pp. 3362
–3372
. 26.
Prayitno
, A.
, and Nilkhamhang
, I.
, 2021
, “Distributed Model Reference Adaptive Control for Vehicle Platoons With Uncertain Dynamics
,” Eng. J.
, 25
(8
), pp. 3362
–3372
. 27.
Peng
, Y. F.
, 2010
, “Adaptive Intelligent Backstepping Longitudinal Control of Vehicle Platoons Using Output Recurrent Cerebellar Model Articulation Controller
,” Expert Syst. Appl.
, 37
(3
), pp. 2016
–2027
. 28.
Chou
, F. C.
, Tang
, S. X.
, Lu
, X.
, and Alexandre
, B.
, 2019
, “Backstepping-Based Time-Gap Regulation for Platoons
,” Proceedings of the ACC, p. V001T01A005
, Paper No. 18954864.29.
Zhu
, Y.
, Wu
, J.
, and Su
, H.
, 2020
, “V2v-Based Cooperative Control of Uncertain, Disturbed and Constrained Nonlinear CAVS Platoon
,” IEEE Trans. Intell. Transp. Syst.
, 23
(3
), pp. 1796
–1806
. 30.
Kwon
, J. W.
, and Chwa
, D.
, 2014
, “Adaptive Bidirectional Platoon Control Using a Coupled Sliding Mode Control Method
,” IEEE Trans. Intell. Transp. Syst.
, 15
(5
), pp. 2040
–2048
. 31.
Zuo
, L.
, Yan
, Y.
, Yan
, M.
, and Ma
, W.
, 2020
, “Distributed Integral Sliding Mode-Based Nonlinear Vehicle Platoon Control With Quadratic Spacing Policy
,” Complexity
, 2020
(1
), pp. 1
–9
. 32.
Zheng
, Y.
, Li
, S. E.
, Wang
, J.
, Cao
, D.
, and Li
, K.
, 2016
, “Stability and Scalability of Homogeneous Vehicular Platoon: Study on the Influence of Information Flow Topologies
,” IEEE Trans. Intell. Transp. Syst.
, 17
(1
), pp. 1
–14
. 33.
Yan
, M.
, Song
, J.
, Yang
, P.
, and Zuo
, L.
, 2018
, “Neural Adaptive Sliding-Mode Control of a Bidirectional Vehicle Platoon with Velocity Constraints and Input Saturation
,” Complexity
, 2018
(1
), pp. 1
–11
. 34.
Guo
, X.
, Wang
, J.
, Liao
, F.
, and Teo
, R.
, 2018
, “Neuroadaptive Quantized PID Sliding-Mode Control for Heterogeneous Vehicular Platoon With Unknown Actuator Deadzone
,” J. Robust Nonlinear Control
, 29
(1
), pp. 188
–208
. 35.
Guo
, G.
, Li
, P.
, and Hao
, L.
, 2018
, “A New Quadratic Spacing Policy and Adaptive Fault-Tolerant Platooning With Actuator Saturation
,” IEEE Trans. Intell. Transp. Syst.
, 23
(2
), pp. 1200
–1212
. 36.
Guo
, G.
, Li
, P.
, and Hao
, L.
, 2020
, “Adaptive Fault-Tolerant Control of Platoons With Guaranteed Traffic Flow Stability
,” IEEE Trans. Veh. Technol.
, 69
(7
), pp. 6916
–6927
. 37.
Gao
, Z.
, Zhang
, Y.
, and Guo
, G.
, 2022
, “Fixed-Time Prescribed Performance Adaptive Fixed-Time Sliding Mode Control for Vehicular Platoons With Actuator Saturation
,” IEEE Trans. Intell. Transp. Syst.
, 23
(12
), pp. 24176
–24189
. 38.
Guo
, G.
, and Li
, D.
, 2019
, “Adaptive Sliding Mode Control of Vehicular Platoons With Prescribed Tracking Performance
,” IEEE Trans. Veh. Technol.
, 68
(8
), pp. 7511
–7520
. 39.
Ghasemi
, A.
, and Kazemi
, R.
, 2013
, “Stable Decentralized Control of a Platoon of Vehicles With Heterogeneous Information Feedback
,” IEEE Trans. Veh. Technol.
, 62
(9
), pp. 4299
–4308
. 40.
Li
, Y.
, Zhao
, Y.
, and Tong
, S.
, 2019
, “Adaptive Fuzzy Control for Heterogeneous Vehicular Platoon Systems With Collision Avoidance and Connectivity Preservation
,” IEEE Trans. Fuzzy Syst.
, 31
(11
), pp. 3934
–3943
. 41.
Wang
, H.
, Chen
, B.
, Lin
, C.
, Sun
, Y.
, and Wang
, F.
, 2017
, “Adaptive Finite-Time Control for a Class of Uncertain High-Order Non-linear Systems Based on Fuzzy Approximation
,” IET Control Theory Appl.
, 11
(5
), pp. 677
–684
. 42.
Ge
, S. S.
, and Wang
, C.
, 2004
, “Adaptive Neural Control of Uncertain MIMO Nonlinear Systems
,” IEEE Trans. Neural Netw.
, 15
(3
), pp. 674
–692
. 43.
Rajamani
, R.
, 2008
, Vehicle Dynamics and Control
, Springer
, New York
.44.
Liang
, Q.
, and Mendel
, J.
, 2000
, “Interval Type-2 Fuzzy Logic Systems: Theory and Design
,” IEEE Trans. Fuzzy Syst.
, 8
(5
), pp. 535
–550
. 45.
Chen
, Y.
, and Yang
, J.
, 2021
, “Study on Center-of-Sets Type-Reduction of Interval Type-2 Fuzzy Logic Systems With Noniterative Algorithms
,” J. Intell. Fuzzy Syst.
, 40
(6
), pp. 11099
–11106
. 46.
Mendel
, J. M.
, 2014
, “General Type-2 Fuzzy Logic Systems Made Simple: A Tutorial
,” IEEE Trans. Fuzzy Syst.
, 22
(5
), pp. 1162
–1182
. 47.
Nie
, M.
, and Tan
, W. W.
, 2008
, “Towards an Efficient Type-Reduction Method for Interval Type-2 Fuzzy Logic Systems
,” 2008 IEEE International Conference on Fuzzy Systems, pp. 1425
–1432
, Paper No. 10221820.48.
Zhao
, K.
, and Song
, Y. D.
, 2019
, “Removing the Feasibility Conditions Imposed on Tracking Control Designs for State-Constrained Strict-Feedback Systems
,” IEEE Trans. Autom. Control
, 64
(3
), pp. 1265
–1272
. 49.
Zhou
, S.
, and Song
, Y.
, 2021
, “Prescribed Performance Neuroadaptive Fault-Tolerant Compensation for Mimo Nonlinear Systems Under Extreme Actuator Failures
,” IEEE Trans. Syst. Man Cybern. Syst.
, 51
(9
), pp. 5427
–5436
. 50.
Zhao
, K.
, Song
, Y.
, Ma
, T.
, and He
, L.
, 2018
, “Prescribed Performance Control of Uncertain Euler–Lagrange Systems Subject to Full-State Constraints
,” IEEE Trans. Neural Netw. Learn. Syst.
, 29
(8
), pp. 3478
–3489
. 51.
Xue
, G.
, Lin
, F.
, Li
, S.
, and Liu
, H.
, 2021
, “Adaptive Dynamic Surface Control for Finite-Time Tracking of Uncertain Nonlinear Systems With Dead-Zone Inputs and Actuator Faults
,” Int. J. Control Autom. Syst.
, 19
(8
), pp. 2797
–2811
. 52.
Ba
, K.
, Yu
, B.
, Liu
, Y.
, Jin
, Z.
, Gao
, Z.
, Zhang
, J.
, and Kong
, X.
, 2020
, “Fuzzy Terminal Sliding Mode Control With Compound Reaching Law and Time Delay Estimation for HDU of Legged Robot
,” Complexity
, 2020
(1
), pp. 1
–16
. 53.
Lai
, G.
, Zhang
, Y.
, Liu
, Z.
, and Chen
, C. L. P.
, 2019
, “Indirect Adaptive Fuzzy Control Design With Guaranteed Tracking Error Performance for Uncertain Canonical Nonlinear Systems
,” IEEE Trans. Fuzzy Syst.
, 27
(6
), pp. 1139
–1150
. 
