Finite-Time Command-Filtered Lateral-Longitudinal Formation Control of Vehicles on Rough Roads

Abstract

This paper investigates the lateral and longitudinal formation control problem of a group of vehicles driving in rough road environments. An adaptive sliding mode disturbance observer is introduced to estimate the road disturbance. Then, based on the road disturbance observer, a conmand-filtered vehicular formation control method is given, which can make the formation tracking errors converge to a small neighborhood of zero in a finite time. In other words, the lateral-longitudinal formation of vehicles can be practically finite-time stabilized despite the road disturbance, via the use of a backstepping control algorithm with a finite-time command filter based on an error compensation mechanism. Numerical simulations have shown the effectiveness of the presented method.