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- W4387428936 abstract "This chapter investigates the problem of minimizing intervehicle spacing errors based on distributed cooperative control. To deal with random information flow in vehicular ad-hoc networks and uncertain vehicle dynamics, a two-layered hierarchical control framework is proposed for each follower. Specifically, the upper layer aims to provide a desired trajectory for each follower, which is implemented by the distributed continuous-time convex optimization technique. The authors prove that the desired trajectory is unique for each follower. Moreover, consensus with the leader's running trajectory is achieved when intervehicle spacing errors are minimized. In the second layer, an adaptive sliding mode (ASM) controller is designed to track the desired trajectory obtained in the first layer. By analyzing the dynamics of the tracking errors on the sliding surface, a useful condition is derived to determine the parameters of the ASM controller so that both internal and string stability are satisfied." @default.
- W4387428936 created "2023-10-08" @default.
- W4387428936 date "2023-10-06" @default.
- W4387428936 modified "2023-10-18" @default.
- W4387428936 title "Speed Planning and Sliding‐Mode Control to Reduce Intervehicle Spacing" @default.
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- W4387428936 doi "https://doi.org/10.1002/9781394205509.ch12" @default.
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