Abstract
This study developed an integral coupled sliding mode control (ICSMC) for an automated platoon with exponential spacing policy (ESP) and bidirectional information flow topology. A highly nonlinear and unknown third-order vehicle model was used to represent the actual driving scenario. An adaptive interval type-2 fuzzy logic system (IT2FLS) was applied to support the main controller to approximate the unknown resistance term.To enhance the performance and effectiveness of the IT2FLS, an effective Nie-Tan type reducer was employed. The overall system’s stability was performed based on the Lyapunov stability theory. To demonstrate the performance of the proposed method, a comparison between other control strategies was also made. The implementation of the controller for both nonlinear and linear systems was proven to be efficient and robust.
