This paper proposes a distributed integral-sliding-mode (ISM) control strategy for cooperative braking control of a connected vehicle platoon with a focus on the car-following interactions between vehicles. In particular, a linear controller considering the position and velocity of the lead vehicle as well as the braking force is proposed for the leader, while a constant-time-headway-policy-based ISM controller incorporating the car-following interactions, the spacing error, velocity difference, and external disturbances is developed for the followers. In addition, the convergence for the ISM controller is rigorously analyzed using the Lyapunov technique. Furthermore, the string stability of the platoon is analyzed using the transfer function method. Finally, extensive analyses are conducted using numerical and field experiments. Results verify the effectiveness of the proposed control strategy with respect to the position, velocity, deceleration, and spacing error profiles.

中文翻译：

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联网车辆队列的整体滑模制动控制：理论与应用

本文提出了一种分布式积分滑模 (ISM) 控制策略，用于联网车辆排的协作制动控制，重点是车辆之间的跟车交互。特别是，提出了一种考虑领先车辆的位置和速度以及制动力的线性控制器，而基于恒定车头时距策略的 ISM 控制器结合了跟车交互、间距误差，速度差和外部扰动是为跟随者开发的。此外，使用李雅普诺夫技术对 ISM 控制器的收敛性进行了严格分析。此外，使用传递函数方法分析了排的串稳定性。最后，使用数值和现场实验进行了广泛的分析。