Distributed Adaptive Sliding Mode Control for Vehicle Platoon with Uncertain Driving Resistance and Actuator Saturation

Figure 4

The simulation results of each vehicle with uncertain driving resistance, actuator saturation, and reduced chattering: (a) the velocity curves; (b) the position curves; (c) the distances curves between two neighbor vehicles; (d) the control input curves.

(a)

(b)

(c)

(d)