Double Power Reaching Law Sliding Mode Control for Combination Vehicles

Vehicle formation can enhance traffic safety, improve road utilization, increase fuel efficiency, and reduce emissions. In this paper, we design a combination of vehicles structure with each carriage driven independently, using a double power reaching law sliding mode control algorithm to achieve a consensus speed as well as a desired position state for all vehicles by controlling the torque of subsequent vehicles. A new power term is introduced to improve the convergence rate when moving away from the sliding mode. The feasibility and superiority of the algorithm is verified by comparative simulation experiments.