Adaptive Finite-Time Prescribed Performance Accurate Tracking Control of Vehicular Platoons with Multilevel Threshold

The issue of prescribed performance platoon control of connected vehicles with dynamic performance threshold is investigated in this paper. A continuous gain function is intro-duced, combining with finite-time performance function, a novel prescribed performance control (PPC) scheme is developed to make the tracking error tend to the prescribed region with different threshold within the user-defined time. Then, a new finite-time reaching law is proposed, based on which, an improved finite-time sliding mode platoon control algorithm is proposed. The suggested control strategy not only ensures finite-time individual vehicle stability and finite-time string stability, but also realizes the asymptotic convergence of the spacing tracking error. Eventually, the feasibility of the proposed scheme are validated by numerical simulations.