A novel adaptive coordinated platoon control of connected autonomous distributed electric vehicles (CADEVs) on curved roads is proposed to increase traffic security. The nonlinear vehicle dynamic model that can precisely reflect the driving behaviours of CADEVs on curved roads is deduced by the Newton–Euler method. Owing to the fact that CADEVs have the strong coupled, uncertain non-linear and over-actuated features, a novel disturbance observer-based adaptive coordinated optimal dynamic platoon control strategy is presented to supervise the lateral and longitudinal coupled motions of CADEVs on curved roads, in which the switching gains of backstepping sliding mode control term are precisely adjusted by the neural-network technique, and the uniform ultimate boundedness of closed-loop high-level control system is guaranteed through the Lyapunov stability theory. Then, a sequential quadratic programming (SQP) tire distributor is the basic component of the low-level control law, which can realise the dynamic control distribution of over-actuated tire actuators of CADEVs. Finally, the results manifest the effectiveness of the proposed adaptive coordinated platoon control strategy.

中文翻译：

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弯曲道路上连接的自主分布式电动汽车的自适应非线性协调最优动态排控制

为了提高交通安全性，提出了一种新颖的自适应协调排控制的连接的自主分布式电动汽车（CADEVs）在弯道上。牛顿-欧拉方法推导了能够精确反映CADEV在弯道上行驶行为的非线性车辆动力学模型。由于CADEV具有强耦合，不确定的非线性和过度驱动的特性，因此提出了一种基于扰动观测器的新型自适应协调最优动态排控制策略，以监督CADEV在弯曲道路上的横向和纵向耦合运动，通过神经网络技术精确调节后推滑模控制项的切换增益，并通过李雅普诺夫稳定性理论保证了闭环高级控制系统的一致极限极限。然后，顺序二次编程（SQP）轮胎分配器是低级控制律的基本组成部分，它可以实现CADEVs的过度驱动轮胎执行器的动态控制分配。最后，结果证明了所提出的自适应协调排控制策略的有效性。