Distributed Cooperative Compound Tracking Control for a Platoon of Vehicles with Modeling Uncertainties

This paper investigates a distributed cooperative compound tracking control problem of vehicular platoons with modeling uncertainties. Considering input saturation constraints, an event triggered controller based on model predictive is designed as the feedforward control input for low-frequency and high-amplitude disturbances, while a sliding mode controller is designed as the feedback control input for high-frequency and low amplitude disturbances. Finally, a feedforward-feedback compound algorithm is integrated based on the tube method. What makes the control method interesting lies in that it can not only ensure platoon $L_{p}$ string stability by retaining the speed tracking errors of the vehicles very small, but also reduces communication and computational costs. The effectiveness of the method is demonstrated by numerical simulations.