Distributed Adaptive Sliding Mode Control of Vehicular Platoon

In a platoon control system, a fixed and symmetrical topology is quite rare, because of adverse communication environments and continuously moving vehicles. This paper presents a DASMC (Distributed Adaptive Sliding Mode Control) scheme for more realistic vehicular platooning. In this scheme, adaptive mechanism is adopted to handle platoon parametric uncertainties, while a structural decomposition coupling of interaction topology. mA enthuomde rdiceaall sa wlgiothri ththme based on LMI (Linear Matrix Inequality) is developed to r pelaqcueir etdh ea rpeoa letos boafl atnhcee sqluidicinkgn emsso taionnd sdmynoaomthincse ssin. Tthhee proposed scheme allows the nodes to interact with each other via different types of topologies, e.g., either aDsifyfmermenett rfircoaml oerx isstyinmgm teetcrhicnailq, ueeisth, eitr dfoixeesd n ootr rsewquiticreh inthge. exact values of each entity in topological matrix, and only enfefeedctsi vetnoe sksn oofw t hitsh ep robpoousnedds m eotfh oidtso loegigye ins vvaalluideast. edT hbey bench tests under several conditions. pelaqcueir etdh ea rpeoa letos boafl atnhcee sqluidicinkgn emsso taionnd sdmynoaomthincse ssin. Tthhee proposed scheme allows the nodes to interact with each other via different types of topologies, e.g., either aDsifyfmermenett rfircoaml oerx isstyinmgm teetcrhicnailq, ueeisth, eitr dfoixeesd n ootr rsewquiticreh inthge. exact values of each entity in topological matrix, and only enfefeedctsi vetnoe sksn oofw t hitsh ep robpoousnedds m eotfh oidtso loegigye ins vvaalluideast. edT hbey bench tests under several conditions.