Adaptive Fixed-Time Sliding Mode Control of Vehicular Platoons With Asymmetric Actuator Saturation

This paper investigates the problem of vehicular platoon control with asymmetric actuator saturation. First, an improved Gaussian error function (IGEF)-based approximation strategy is presented to replace saturation nonlinearity in a smooth way. Then, an adaptive fixed-time control algorithm via sliding mode control is proposed with which the individual vehicle stability and string stability can be guaranteed in a given time, and the settling time can be prescribed in advance as needed. Besides, a set of adaptation laws are introduced to deal with uncertain parameters and unknown disturbances. Finally, the effectiveness of the proposed control scheme is illustrated by numerical simulations.