In this thesis, we modeled mathematically both vehicle and car-following systems. In order to gain better performance and ensure the robustness and global stability, a sliding mode controller with the fuzzy-neural network approximator and performance was proposed. Moreover, considering the technical difficulties and the economic benefits, we assumed that only the relative distance of two vehicles was measurable. Thus, an observer-based modified sliding mode controller was developed.
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The control performance of the proposed system were simulated. Simulation results demonstrated the validity and effectiveness of the controlled systems. The system with the modified sliding mode controller showed a better performance than the one controlled by a sliding mode controller did. With these two controllers, the robustness and the global stability were both guaranteed during the vehicles-following process in the presence of the uncertainties and disturbances.
In designing the output feedback control law of an observer-based modified sliding mode controller, no differentiation of system outputs was performed in order to avoid the noise amplification associated with numerical differentiation, and no knowledge on nonlinearities of the nonlinear parts of the system was required. This
controller is subject to on-line tuning for a nonlinear system. Although the performance of the car-following system with an observer is not as good as the one with a modified sliding mode controller which were combined with an aprroximator and performance conception, it is still satisfying.
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