Prescribed-Time Cooperative Control of Connected and Autonomous Vehicles on Rough Roads

This paper addresses a prescribed-time lateral and longitudinal cooperative formation control problem of connected and autonomous vehicles on rough roads with limited communication range. To deal with the impact of road disturbance in a prescribed time, a sliding mode observer with nested adaptation laws is designed based on relaxed assumptions of the road disturbance. Then, by introducing model transformation and backstepping control, a distributed prescribed-time cooperative formation control method is developed, which can achieve multiple driving maneuvers like lane changing and platooning with communication connectivity preservation. Numerical simulations verify the effectiveness of the presented control method.