Research on feedback linearization sliding mode control based on vehicle platoon

Traditional control strategies in vehicle platoon control problems often fail to meet the requirements of system robustness and high-accuracy tracking at the same time, especially when facing external disturbances and model uncertainties. To address this issue, a feedback linearization-based sliding mode control scheme is designed. The feedback linearization part transforms the nonlinear system of vehicle platoon into a linear system and compensates for external disturbances using sliding mode variable structure theory [3]. A dynamic model, structural model, and control model of a vehicle platoon are built in the CarSim-Simulink co-simulation environment to validate the proposed control algorithm. Simulation results show that the following vehicle's lateral and longitudinal tracking errors relative to the leading vehicle are within 10⁻² meters, and the feedback linearization sliding mode control scheme performs better in maintaining platoon stability, response speed, and reducing energy consumption.