我所李润梅老师课题组完成的论文《Following Control of Unmanned Vehicles Based on the Adaptive Sliding Mode Method》于2025-07在《Chinese Control Conference (CCC)》正式发表。论文摘要如下：
Abstract: This paper proposes a moving block leader-follower model for unmanned vehicle following control. A movement authority limit principle that is widely used in urban rail transit is introduced to achieve a safe time-varying close-range following. Based on the nonlinear system model, an adaptive sliding mode control algorithm with a simple structure, strong robustness and high reliability is provided, and the hyperbolic tangent function is used to weaken the output chattering. Considering the uncertainty of the time-varying authority point location information, the adaptive smooth projection algorithm is used to ensure that the estimated value of the parameters always falls within a priori interval. The ideal situation, noise interference and speed mutation are simulated to verify the performance of the designed control law. The simulation results show that the proposed controller reduces the influence of the time-varying parameter uncertainty and noise interference on the performance of the following system of an unmanned vehicle and enhances the robustness of the system.
引用信息：Runmei Li, Kexin Liang, Yongchao Hu. Following Control of Unmanned Vehicles Based on the Adaptive Sliding Mode Method. Chinese Control Conference (CCC), 2025-07. DOI: 10.23919/ccc64809.2025.11179578