Formation Design of a Sliding Variable Surface Structure

This paper proposes an adaptive sliding variable surface structure method for traditional sliding mode control and applies it to vehicle formation. The upper level sliding film controller of the vehicle generates the desired acceleration, while the lower level controls the vehicle speed through throttle and brake to achieve formation driving. Firstly, establish a mathematical model of the car in Carsim software and import the basic data from the car model into Simulink model. Then, using the basic data of the vehicle model, the expected acceleration is calculated by the adaptive sliding mode control algorithm. Finally, based on the transfer function, the stability of the queue is demonstrated, and the effectiveness is verified through joint simulation of Simulink and Carsim.