Adaptive Fuzzy Finite-Time Asymptotic Tracking Control of Vehicular Platoons With Nonsmooth Asymmetric Input Nonlinearities

In this paper, based on Bidirectional (BD) topology, the problem of fuzzy finite-time asymptotic tracking control for the vehicular platoon control system (VPCS) with nonsmooth input nonlinearities induced by dead-zone and saturation is investigated. Based on mean-value scheme and approximation theorem, a novel equivalent transformation strategy independent of the precise model of the actuator is first presented, with which both dead-zone and saturation can be modeled as a smooth system with bounded errors. Then, to carry out the platoon objective within given time, a novel finite-time sliding mode control scheme is further developed, wherein the unknown nonlinear dynamics is approximated by a fuzzy logic system (FLS), and both compound individual vehicle stability and string stability are assured. In particular, asymptotic convergence with zero spacing error is also hold under the given control scheme. Numerical simulations are conducted in the last, based on which, the validity of the given scheme is demonstrated.