Prescribed Performance Backstepping and Sliding Mode Control for Automated Platoons With Internal Type-2 Fuzzy Logic and Exponential Spacing Policy

Abstract

This study presents a control strategy employing a hybrid backstepping and sliding mode control (BSMC) approach for automated platoons. The control scheme integrates an exponential spacing policy tailored to varying driving conditions and vehicle constraints. We introduce an interval type-2 fuzzy logic system (IT2FLS) to approximate the unknown nonlinear driving resistance term. This technique yields interval outputs, incorporating uncertain mean and standard deviation in the membership functions of inputs, thereby enhancing the system’s adaptability. We include a prescribed performance control using an asymmetric prescribed performance function to ensure string stability and confine spacing errors within a desired range. This technique eliminates the need for complex Laplace transform computations to check string stability. To validate the robustness of the proposed controller, we conduct simulations under fault and fault-free conditions, demonstrating the efficacy of the proposed approach.