Platoon-based vehicular cyber-physical systems (VCPSs) have attracted much attention due to their potential to improve road capacity and energy efficiency. However, the comprehensive effect of the mismatched modeling dynamics and unknown disturbances can impose a great challenge on the convergence and stability of vehicle platooning. In this paper, we propose a novel decentralized robust control approach to address the external disturbances in vehicle platooning. Specifically, by combining a super-twisting second-order sliding mode (SOSM) strategy and a disturbance observer (DO), we design a super-twisting SOSMDO platoon controller. We also derive some design conditions of the controller and observer gains. Using the Lyapunov methodology, we theoretically prove under the design conditions the finite-time convergence of the super-twisting SOSMDO to the platooning equilibrium state and its closed-loop stability to the disturbances. Extensive simulations have been conducted and the results demonstrate the superior performance of the proposed control approach in terms of inter-vehicle spacing, velocity tracking, and platoon robustness.

中文翻译：

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基于超扭曲二阶滑模观测器技术的不确定扰动车辆队列分散鲁棒控制

基于排的车辆信息物理系统（VCPS）因其提高道路容量和能源效率的潜力而备受关注。然而，建模动力学不匹配和未知干扰的综合影响会对车辆队列的收敛性和稳定性提出很大挑战。在本文中，我们提出了一种新颖的分散鲁棒控制方法来解决车辆队列中的外部干扰。具体来说，通过结合超扭曲二阶滑模（SOSM）策略和扰动观测器（DO），我们设计了一个超扭曲SOSMDO排控制器。我们还推导出了控制器和观察者增益的一些设计条件。使用李雅普诺夫方法，我们从理论上证明了在设计条件下，超扭曲SOSMDO有限时间收敛到队列平衡状态及其对扰动的闭环稳定性。已经进行了广泛的模拟，结果证明了所提出的控制方法在车辆间距、速度跟踪和排鲁棒性方面的优越性能。