Disturbance Observer-Based Cooperative Control of Vehicle Platoons Subject to Mismatched Disturbance
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Bibliographic record
Abstract
The connected and automated vehicle (CAV) technique is a critical application of intelligent vehicles (IV) and is gaining widespread attention for its prospects of increasing driving efficiency. This paper investigates longitudinal control of vehicle platoons subject to both mismatched velocity disturbance and matched acceleration disturbance. The mismatched and matched disturbances are estimated by a finite-time disturbance observer (DO). Furthermore, two coupled sliding mode platoon controllers are proposed incorporating observed disturbances for longitudinal cooperation of platoons. By using and extending the coupled sliding mode technique, not only closed-loop stability but also string stability is finally proved under bidirectional (BD) and predecessor-following (PF) topologies, respectively. Simulations and an experiment are conducted to validate not only the theoretical effectiveness but also the practical performance of the proposed controllers.
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Full frame distilled prediction
Teacher imitationNot calibrated prevalence, not ground truth. Human validation pending. Learned from the 10,348 direct Codex labels and 10,348 direct Gemma labels. Candidate is the union of thresholded teacher heads; consensus is their intersection. These outputs are machine_predicted_unvalidated and are not human labels or direct frontier model labels.
Codex and Gemma teacher scores by category
| Category | Codex | Gemma |
|---|---|---|
| Metaresearch | 0.000 | 0.000 |
| Meta-epidemiology (narrow) | 0.000 | 0.000 |
| Meta-epidemiology (broad) | 0.000 | 0.000 |
| Bibliometrics | 0.000 | 0.001 |
| Science and technology studies | 0.000 | 0.000 |
| Scholarly communication | 0.000 | 0.000 |
| Open science | 0.000 | 0.000 |
| Research integrity | 0.000 | 0.000 |
| Insufficient payload (model declined to judge) | 0.000 | 0.000 |
Machine scores (provisional)
The two teacher heads of the student model, read on this work. A score orders the frame for review; it never asserts a category, and the validation status ships verbatim with every row.
Baseline scores from an immature model (maturity gate not passed, 7 training rounds). Scores rank; they never assert a category.
score_only:v0-immature-baseline · verbatim from the scoring run: score_only means the number may rank works, and no category label ships from it