LESO-Based Adaptive Fixed-Time Tracking Control for Vehicle Platoon System

For the vehicle platoon system, an adaptive fixedtime tracking control strategy based on linear extended state observer (LESO) is designed, which ensures the convergence of tracking error. Firstly, we design a fixed-time controller to meet the expected performance of the system. Subsequently, the singularity problems in fixed-time control are successfully solved by adopting a power transformation scheme. Unlike traditional LESO, the LESO designed in this paper optimizes the deviation between state variables and their observed values. The result shows that LESO not only improves the estimation accuracy, but also accelerates the convergence rate. Finally, some simulation results indicate the validity of the developed control protocol.