Output-Feedback-Based Prescribed-Time Adaptive Vehicle Tracking Control

This paper proposes a prescribed-time tracking control scheme based on the vehicle longitudinal dynamic model, which solves the current traffic congestion problem. The proposed control method ensures both safe following distances and the convergence of position tracking error within the prescribed-time. To observe the road conditions, a disturbance observer is designed. Applying the Lyapunov stability method and backstepping algorithm, a prescribed-time tracking controller is designed by utilizing a prescribed-time performance function. The designed controller ensures that the position tracking error of the following vehicle converges to zero within prescribed-time, thus ensuring tracking stability and accuracy of the tracking control. Finally, simulation results denote the effectiveness of the presented control algorithm and all signals of the closed-loop system are bounded within the preset time.