Cooperative adaptive cruise control (CACC) has a strong potential to improvise highway traffic capacity and ease traffic disturbances. Extensive exploration is not carried out in the area of CACC for a cut-in maneuver. Contemporary control strategies proposed for CACC cannot regulate the peaking of control input and thus the acceleration/deceleration of following vehicles when applied for various real traffic scenarios. This paper aims to develop a non-linear disturbance observer-based sliding mode control to control a CACC system for various traffic scenarios. The proposed observer estimates the uncertainty present in the actuator dynamics and the preceding vehicle’s acceleration as the lumped disturbance at the same time, it adjusts the observer gain to alleviate the peaking of control input. The stability of individual vehicles and the string stability of vehicle platoon are derived The performance of the proposed scheme is validated with various traffic scenarios, that is, cut-in maneuver, cut-out maneuver, and non-zero initial conditions. The effectiveness of the proposed scheme is demonstrated by comparing it with a linear disturbance observer-based control.

协同自适应巡航控制 (CACC) 具有提高公路通行能力和缓解交通干扰的巨大潜力。没有在 CACC 区域为切入机动进行广泛的勘探。为 CACC 提出的现代控制策略在应用于各种实际交通场景时无法调节控制输入的峰值，从而无法调节后续车辆的加速/减速。本文旨在开发一种基于非线性干扰观测器的滑模控制，以控制各种交通场景的 CACC 系统。所提出的观测器同时将执行器动力学和前车加速度中存在的不确定性估计为集中扰动，它调整观测器增益以减轻控制输入的峰值。推导出单个车辆的稳定性和车辆队列的串稳定性 所提出的方案的性能在各种交通场景下进行了验证，即切入机动、切出机动和非零初始条件。通过将其与基于线性干扰观测器的控制进行比较，证明了所提出方案的有效性。