Finite-Time Control of Vehicular Platoons With Global Prescribed Performance and Actuator Nonlinearities.

The problem of finite-time global prescribed performance control (GPPC) for vehicular platoon control system (VPCS) with actuator nonlinearities is investigated in this paper. A smooth equivalent transformation is first presented to process both actuator dead-zone and saturation under the same framework. Then, a GPPC method based on improved finite-time performance function (IFnTPF) is proposed, and makes the tracking error tend to the prescribed region within the predefined time, while removes the strict restrictions on the initial conditions of the system. To realize the platoon in given time, an adaptive finite-time sliding mode control scheme is further developed, and both individual vehicle stability and string stability are guaranteed. Numerical simulations demonstrate the validity of the given scheme.