In this paper, we consider the specified-time platoon control for the networked vehicles modelled by the third-order dynamics with uncertain external bounded disturbance. The vehicles are subjected to disturbance and parameter uncertainties. To ensure the platoon can converge within a predefined time, a novel disturbance observer with a time-varying dynamic gain is proposed. By the time transformation approach, the disturbance observer is proved to be uniformly ultimate bounded (UUB) stable in a specified time. The time-varying dynamic gain is also applied to design the novel specified-time controller for the vehicle platoon and rigorous proof is presented based on Lyapunov stability. Under the proposed disturbance observer and controller, the vehicle platoon can be stabilised within the predefined time without depending on any system parameters and initial conditions. Finally, some comparison simulation results are given to verify the effectiveness of the proposed protocols.

在本文中，我们考虑了具有不确定外部有界干扰的三阶动力学建模的网络车辆的指定时间排控制。车辆受到干扰和参数不确定性的影响。为确保排能在预定时间内收敛，提出了一种具有时变动态增益的新型扰动观测器。通过时间变换方法，证明扰动观测器在指定时间内是一致极限有界（UUB）稳定的。时变动态增益也被用于设计新颖的车辆队列指定时间控制器，并基于Lyapunov稳定性给出了严格的证明。在提议的扰动观测器和控制器下，车辆排可以在预定义的时间内稳定下来，而无需依赖任何系统参数和初始条件。最后，给出了一些比较仿真结果，以验证所提出协议的有效性。