Distributed Cooperative Compound Tracking Control for a Platoon of Vehicles With Adaptive NN

This article focuses on the distributed cooperative compound tracking issue of the vehicular platoon. First, a definition, called compound tracking control, is proposed, which means that the practical finite-time stability and asymptotical convergence can be simultaneously satisfied. Then, a modified performance function, named finite-time performance function, is designed, which possesses the faster convergence rate compared to the existing ones. Moreover, the adaptive neural network (NN), prescribed performance technique, and backstepping method are utilized to design a distributed cooperative regulation protocol. It is worth noting that the convergence time of the proposed algorithm does not depend on the initial values and design parameters. Finally, simulation experiments are given to further verify the effectiveness of the presented theoretical findings.

Automated summary

This article introduces a definition of compound tracking control and a finite-time performance function, and utilizes methods such as adaptive neural networks to design a distributed cooperative regulation protocol. Simulation experiments confirm the effectiveness of the theoretical findings.