Adaptive Command-filtered Finite-time Control of Vehicular Platoons with Inter-Vehicle Spacing Constraints

This paper investigates the problem of platoon control of vehicles with inter-vehicle spacing constraints and uncertain parameters. The prescribed performance control methodology is employed to describe the spacing constraints that de-scribed by a time-varying smooth function. Based on the smooth function, asymmetric barrier lyapunov functions, neural network technique and in the context of command filtered control, a novel finite-time control scheme is proposed, by which the platoon can be achieved with all the states stabilized in a given finite-time, while guarantee that the inter-vehicle spacing constraints are not violated during the whole operation. The effectiveness and performance of the method is demonstrated by numerical simulations.