Adaptive Finite-Time Braking Control of Vehicle Platoons Using a Terminal-Sliding-Mode Approach

In this article, the issue of cooperative braking control of vehicular platoon under unknown disturbances is proposed. Ground on the finite-time theory and the nonlinear sliding mode control, a distributed terminal sliding mode (TSM) control scheme is proposed, which the control objects can be achieved within finite time. A adaptive laws is designed to deal with the effects of unknown external disturbances. In addition, the Lyapunov technique is used to analyze the convergence of the TSM controller, and the string stability is also guaranteed through the use of transfer function method. The validity of the presented control theorem is demonstrated by three examples.