A novel integral sliding mode control (ISMC) strategy, combining with a disturbance observer (DO) for vehicle-following systems, is presented in this article. The vehicle platoon includes a leading vehicle and multiple following vehicles subjected to unknown acceleration uncertainties. First, the ISMC based on DO and the constant time headway policy is constructed to realize the string stability of the whole vehicle platoon in a finite time, under the condition of zero initial spacing errors. The uncertainties of the vehicular system can be well estimated by extending DO even if the bounds of the uncertainties are not known exactly. In order to alleviate the chattering problem of the traditional ISMC, a continuous sliding surface including sign function is designed for the proposed ISMC strategy. Then, a modified constant time headway (MCTH) policy is proposed to overcome the requirement of zero initial spacing errors. In addition, the developed MCTH policy can effectively improve the string stability and safety of the vehicle platoon system. Finally, the effectiveness and advantages of the proposed algorithm are verified by the simulations and experiments.

中文翻译：

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使用扰动观测器对车队进行积分滑模控制


本文提出了一种新颖的积分滑模控制（ISMC）策略，与车辆跟随系统的扰动观测器（DO）相结合。车辆排包括一辆领先车辆和多辆跟随车辆，其加速度不确定性未知。首先，构建基于DO和恒定车头时距策略的ISMC，在初始间距误差为零的情况下，实现有限时间内整车排的串稳定性。即使不确定性的界限未知，也可以通过扩展 DO 来很好地估计车辆系统的不确定性。为了缓解传统 ISMC 的抖振问题，为所提出的 ISMC 策略设计了包含符号函数的连续滑动面。然后，提出了改进的恒定时间车头时距（MCTH）策略来克服零初始间距误差的要求。此外，所开发的MCTH策略可以有效提高车辆队列系统的串稳定性和安全性。最后通过仿真和实验验证了所提算法的有效性和优点。