Finite-Time Terminal Sliding Mode Control for Connected Vehicles Platoon

To address the issue of error convergence, this paper proposes a finite time terminal sliding mode control strategy, and considering the interaction between vehicles to prevent inappropriate accelerations, negative speeds, and negative spacing error (SE). First, a new terminal sliding surface is designed based on the kinematics model. Aiming at the sliding mode chattering problem, an appropriate reaching law is designed. Then the controller is obtained according to the kinematics model and the designed sliding surface. And we use Lyapunov technique to prove system stability, and use Laplace technique to analyze string stability. Finally, the feasibility of the control scheme is proved through simulation.