Predefined-Time Tracking Control for Heterogeneous Vehicle Platoons Under Uncertain Initial Conditions Based on a Disturbance Observer

Abstract

This paper is concerned with the predefined-time tracking control problem for vehicular platoon systems composed of heterogeneous vehicles with arbitrary initial states under the influence of nonlinear disturbances. To counteract the influence of system uncertainties and disturbances, a practical predefined-time disturbance observer (PTDO) is constructed for lumped disturbance compensation in the closed-loop system. Meanwhile, a predefined-time control scheme is developed incorporating a predefined-time performance function (PTPF) and a composite error transformation mechanism to ensure that the position and velocity errors of the vehicle platoon system are constrained within a predetermined accuracy within a predefined time frame. The proposed approach eliminates reliance on initial conditions inherent to conventional prescribed performance control methods while demonstrating adaptability to diverse application scenarios. The efficacy and practicality of the developed control protocol are substantiated through rigorous theoretical analysis and numerical simulations.