Decentralized Robust Control for Vehicle Platooning Subject to Uncertain Disturbances via Super-Twisting Second-Order Sliding-Mode Observer Technique

Platoon-based vehicular cyber-physical systems (VCPSs) have attracted much attention due to their potential improve road capacity and energy efficiency. However, the comprehensive effect of mismatched modeling dynamics unknown disturbances can impose a great challenge on convergence stability vehicle platooning. In this paper, we propose novel decentralized robust control approach address external in Specifically, by combining super-twisting second-order sliding mode (SOSM) strategy disturbance observer (DO), design SOSMDO platoon controller. We also derive some conditions controller gains. Using Lyapunov methodology, theoretically prove under finite-time platooning equilibrium state its closed-loop disturbances. Extensive simulations been conducted results demonstrate superior performance proposed terms inter-vehicle spacing, velocity tracking, robustness.