An Improved Adaptive Exponential Reaching Sliding Mode Control Strategy for Intelligent Connected Vehicle System under Complex Communication Environment and Different Types of Interference

Abstract

This paper studies the performance of a nonlinear sliding mode controller in the cooperative control of the intelligent connected vehicles system. The study begins by proposing a V2V car-following model that takes into account the impacts of disturbances both external and within in the system. Subsequently, an improved adaptive exponential reaching sliding mode controller (IAERSMC) based on a non-singular terminal sliding mode variable is proposed. It is shown through theoretical analysis that with this controller, the system can converge in finite time and enhance dynamic performance. To verify the effectiveness of the controller proposed in this study, two simulation experiments are designed and performed. The first experiment tests the change of communication environment by transforming the communication topology, and the second experiment tests response to three different types of input interference: continuous regular interference, continuous irregular interference, and episodic disturbance. Simulation results show that the controller proposed in this study can maintain a stable operating state of the intelligent connected vehicles system in the face of the complex variable communication environments and different types of interference. The theoretical analysis agrees with the results of the simulated experiments.