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Cooperative adaptive cruise control (CACC) has a strong potential to improvise highway traffic capacity and ease traffic disturbances. Extensive exploration is not carried out in the area of CACC for a cut-in maneuver. Contemporary control strategies proposed for CACC cannot regulate the peaking of control input and thus the acceleration/deceleration of following vehicles when applied for various real traffic scenarios. This paper aims to develop a non-linear disturbance observer-based sliding mode control to control a CACC system for various traffic scenarios. The proposed observer estimates the uncertainty present in the actuator dynamics and the preceding vehicle’s acceleration as the lumped disturbance at the same time, it adjusts the observer gain to alleviate the peaking of control input. The stability of individual vehicles and the string stability of vehicle platoon are derived The performance of the proposed scheme is validated with various traffic scenarios, that is, cut-in maneuver, cut-out maneuver, and non-zero initial conditions. The effectiveness of the proposed scheme is demonstrated by comparing it with a linear disturbance observer-based control.

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A cooperative adaptive cruise control system utilizes vehicle-to-vehicle communication in addition to onboard sensors. Vehicle-to-vehicle communication is established by a short-range wireless network, which is susceptible to communication delay or loss of communication frequently. It would result in higher inter-vehicle distance to maintain the string stability of a platoon. In this paper, a nonlinear observer-based super twisting control is proposed to retain the property of string stability in various practical scenarios of communication delay, complete loss of communication, and parametric uncertainty. It ensures asymptotic convergence of the spacing error. The stability of an individual vehicle and the string stability of a platoon is derived. The performance of the proposed scheme is compared with two well-known methods for controlling a platoon of cooperative adaptive cruise control and adaptive cruise control vehicles.