深圳大学学报（理工版）2026，Vol.43Issue(3)：327-337,11.DOI:10.3724/SP.J.1249.2026.03327
匹配与非匹配扰动下非线性网联车辆队列有限时间控制
Finite-time control of nonlinear connected vehicle platoons under matched and unmatched disturbances
摘要
Abstract
To address the finite-time control problem of a nonlinear connected vehicle platoon subject to both matched and unmatched disturbances,we propose a control strategy to ensure the finite-time stability of the connected vehicle platoon under complex disturbance conditions.It is assumed that all following vehicles in the platoon can obtain the state information of the lead vehicle through vehicle-to-vehicle communication.A disturbance observer is designed to accurately estimate two types of disturbances within finite time.Subsequently,based on a constant inter-vehicle spacing strategy and terminal sliding mode theory,a finite-time sliding mode control algorithm is proposed.Finally,numerical simulations are conducted to evaluate the effectiveness of the proposed control strategy.The results show that,even in the presence of both types of disturbances,the observer can rapidly estimate two types of disturbances within 0.5 s,and the position,velocity and acceleration tracking errors converge within finite time,thereby effectively ensuring stability and robustness of platoon motion.The comparative studies with existing consensus methods and proportional integral derivative(PID)control methods show that the proposed algorithm achieves an average root mean square error(RMSE)of 0.199 m in position,0.163 m/s in velocity,and 0.296 m/s2 in acceleration,with the maximum absolute value of position tracking error remaining below 0.9 m.These values are consistently smaller than those obtained using PID control.Furthermore,robustness analyses under diverse conditions,including varying communication delays,sensor errors,vehicle dynamics parameters,packet loss rates,and disturbance magnitudes confirm that the proposed method maintains satisfactory performance under these challenging scenarios.关键词
交通工程/非匹配扰动/队列控制器/滑模控制/稳定性分析/扰动观测器/网联车辆Key words
traffic engineering/unmatched disturbances/platoon controller/sliding mode control/stability analysis/disturbance observer/connected vehicles分类
交通工程引用本文复制引用
靳双,刘安龙..匹配与非匹配扰动下非线性网联车辆队列有限时间控制[J].深圳大学学报（理工版）,2026,43(3):327-337,11.基金项目
China Postdoctoral Science Foundation(2022M710546) （2022M710546）
Scientific and Technological Research Program of Chongqing Municipal Education Commission(KJQN202200741) 中国博士后科学基金资助项目(2022M710546) （KJQN202200741）
重庆市教委科学技术研究计划资助项目(KJQN202200741) （KJQN202200741）
