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<p>In this paper, an adaptive super-twisting sliding mode control (ASTSMC) strategy is proposed for the autonomous vehicle platoon system (AVPS). This method ensures both individual vehicle stability and string stability of the AVPS under parameter uncertainties and external disturbances. The conventional constant time-headway (CTH) policy is adopted. A first-order sliding surface is constructed using a PID-type structure based on spacing errors, and a coupled sliding surface is established through a bidirectional topology to ensure string stability within the platoon. The ASTSMC strategy is integrated with a disturbance observer (DO). The adaptive law uses only two parameters, thereby substantially reducing the computational complexity of parameter tuning. The integration of the continuous super-twisting algorithm and DO improves convergence speed, reduces chattering, and maintains platoon string stability. Numerical simulations are conducted to demonstrate the effectiveness of the proposed strategy.</p>

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An improved adaptive super-twisting sliding mode controller for the connected autonomous vehicle platoon

  • 期刊论文

  • 发表日期：

    2026年7月11日

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  • Kangxin Sun,
  • Qiyi Xu,
  • Kezhen He

摘要

In this paper, an adaptive super-twisting sliding mode control (ASTSMC) strategy is proposed for the autonomous vehicle platoon system (AVPS). This method ensures both individual vehicle stability and string stability of the AVPS under parameter uncertainties and external disturbances. The conventional constant time-headway (CTH) policy is adopted. A first-order sliding surface is constructed using a PID-type structure based on spacing errors, and a coupled sliding surface is established through a bidirectional topology to ensure string stability within the platoon. The ASTSMC strategy is integrated with a disturbance observer (DO). The adaptive law uses only two parameters, thereby substantially reducing the computational complexity of parameter tuning. The integration of the continuous super-twisting algorithm and DO improves convergence speed, reduces chattering, and maintains platoon string stability. Numerical simulations are conducted to demonstrate the effectiveness of the proposed strategy.