Distributed Sliding Mode Control approach with adaptive spacing policy for vehicle platoons in communication interruption scenario

Distributed Sliding Mode Control approach with adaptive spacing policy for vehicle platoons in communication interruption scenario | Research Square window.SnipcartSettings = { analytics: { enabled: false } }; (function() { var accessVector = localStorage.getItem('access_vector') || ''; window.dataLayer = window.dataLayer || []; if (accessVector) { window.dataLayer.push({ user: { profile: { profileInfo: { snid: accessVector } } } }); } })(); (function(w,d,s,l,i){w[l]=w[l]||[];w[l].push({'gtm.start':new Date().getTime(),event:'gtm.js'});var f=d.getElementsByTagName(s)[0],j=d.createElement(s),dl=l!='dataLayer'?'&l='+l:'';j.async=true;j.src='https://www.googletagmanager.com/gtm.js?id='+i+dl;f.parentNode.insertBefore(j,f);})(window,document,'script','dataLayer','GTM-K279D39R'); Browse Preprints In Review Journals COVID-19 Preprints AJE Video Bytes Research Tools Research Promotion AJE Professional Editing AJE Rubriq About Preprint Platform In Review Editorial Policies Our Team Advisory Board Help Center Sign In Submit a Preprint Cite Share Download PDF Article Distributed Sliding Mode Control approach with adaptive spacing policy for vehicle platoons in communication interruption scenario Jianqiang Wang, Ting Tong, Jianzhong Cao, Shiwei Li This is a preprint; it has not been peer reviewed by a journal. https://doi.org/ 10.21203/rs.3.rs-6008995/v1 This work is licensed under a CC BY 4.0 License Status: Published Journal Publication published 01 Jul, 2025 Read the published version in Scientific Reports → Version 1 posted 8 You are reading this latest preprint version Abstract Communication disruptions in connected and autonomous vehicle (CAV) platoons induce critical stability degradation. This study proposes a dual-layer framework that combines adaptive spacing policy switching and distributed exponential sliding mode control (DESMC). The hybrid policy dynamically switches between constant spacing (CS) and constant time headway (CTH) policies based on real-time metrics, such as packet loss exceeding 5% or RSSI dropping below -90 dBm. This approach reduces emergency braking by 85% compared to pure CS. Additionally, the DESMC controller utilizes an exponential approaching law, resulting in a 1.16% reduction in velocity RMSE and a 21.71% decrease in acceleration oscillations compared to conventional methods. Stability is verified using the Lyapunov theory, and string stability is validated under time delays via infinity-norm analysis. Simulations conducted on six CAVs show that, during failures, the system achieves a safe spacing of 8.7 meters, exceeding ETC standards by 8.75%. Furthermore, platoon synchronization occurs in 35 seconds, 16.7% faster than conventional approaches, with steady-state errors of ±0.15 meters. Finally, the DESMC method proposed here quantitatively demonstrates the superior smoothness and stability compared to the conventional controller. The proposed framework enhances robustness in dynamic communication environments, supporting 5G-V2X-enabled transportation systems. Physical sciences/Engineering Physical sciences/Physics Connected and autonomous vehicles platoons Communication interruption Distributed exponential sliding mode control Adaptive spacing policy String stability Full Text Additional Declarations No competing interests reported. Cite Share Download PDF Status: Published Journal Publication published 01 Jul, 2025 Read the published version in Scientific Reports → Version 1 posted Editorial decision: Accepted 20 Jun, 2025 Reviews received at journal 25 May, 2025 Reviews received at journal 03 May, 2025 Reviewers agreed at journal 03 May, 2025 Reviewers agreed at journal 03 May, 2025 Reviewers invited by journal 28 Apr, 2025 Submission checks completed at journal 19 Apr, 2025 First submitted to journal 07 Apr, 2025 You are reading this latest preprint version Research Square lets you share your work early, gain feedback from the community, and start making changes to your manuscript prior to peer review in a journal. As a division of Research Square Company, we’re committed to making research communication faster, fairer, and more useful. We do this by developing innovative software and high quality services for the global research community. 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Also discoverable on Platform About Our Team In Review Editorial Policies Advisory Board Help Center Resources Author Services Accessibility API Access RSS feed Manage Cookie Preferences © Research Square 2026 | ISSN 2693-5015 (online) Privacy Policy Terms of Service Do Not Sell My Personal Information {"props":{"pageProps":{"initialData":{"identity":"rs-6008995","acceptedTermsAndConditions":true,"allowDirectSubmit":false,"archivedVersions":[],"articleType":"Article","associatedPublications":[],"authors":[{"id":448839249,"identity":"e4970531-f081-4720-86d2-1dc4d116dcb2","order_by":0,"name":"Jianqiang Wang","email":"data:image/png;base64,iVBORw0KGgoAAAANSUhEUgAAAZAAAAAyAQMAAABI0h/eAAAABlBMVEX///8AAABVwtN+AAAACXBIWXMAAA7EAAAOxAGVKw4bAAAAvklEQVRIiWNgGAWjYDACZiBOYGBj4GdmPviANC2S7WzJBqTZZnCex0yAOJXHeY9JPGzjk918mMGMgaHGJpqgFslmvmSDxDY2422HGdIeMBxLy20gpIWfmcfwQeI2tkSgluMGjA2HCWthY+YxOADSsrmZsU2CKC1wWzYwM7MRp0WymcfYIPEfm/GMw2zMBgnE+MXg/BkzyR9njsn295//+OBDjQ1hLVBwjBGsMoFI5SBQw0is4aNgFIyCUTACAQDByjpsUIDMhQAAAABJRU5ErkJggg==","orcid":"","institution":"Lanzhou Jiaotong University","correspondingAuthor":true,"prefix":"","firstName":"Jianqiang","middleName":"","lastName":"Wang","suffix":""},{"id":448839250,"identity":"2c9850ad-86e9-4b73-953c-5dddb0a54efb","order_by":1,"name":"Ting Tong","email":"","orcid":"","institution":"Lanzhou Jiaotong University","correspondingAuthor":false,"prefix":"","firstName":"Ting","middleName":"","lastName":"Tong","suffix":""},{"id":448839251,"identity":"5ca52624-5f9e-44cd-956a-063cdb5c8f68","order_by":2,"name":"Jianzhong Cao","email":"","orcid":"","institution":"Lanzhou Jiaotong University","correspondingAuthor":false,"prefix":"","firstName":"Jianzhong","middleName":"","lastName":"Cao","suffix":""},{"id":448839252,"identity":"54181dba-b098-41d1-b698-3fadf5248eea","order_by":3,"name":"Shiwei Li","email":"","orcid":"","institution":"Lanzhou Jiaotong University","correspondingAuthor":false,"prefix":"","firstName":"Shiwei","middleName":"","lastName":"Li","suffix":""}],"badges":[],"createdAt":"2025-02-11 16:08:21","currentVersionCode":1,"declarations":"","doi":"10.21203/rs.3.rs-6008995/v1","doiUrl":"https://doi.org/10.21203/rs.3.rs-6008995/v1","draftVersion":[],"editorialEvents":[{"content":"https://doi.org/10.1038/s41598-025-08317-3","type":"published","date":"2025-07-01T15:58:27+00:00"}],"editorialNote":"","failedWorkflow":false,"files":[{"id":86179189,"identity":"1ba457ac-44f9-4ef1-9c28-3a2abeea4ad6","added_by":"auto","created_at":"2025-07-07 16:17:01","extension":"pdf","order_by":1,"title":"","display":"","copyAsset":false,"role":"manuscript-pdf","size":1042284,"visible":true,"origin":"","legend":"","description":"","filename":"remanuscript1.pdf","url":"https://assets-eu.researchsquare.com/files/rs-6008995/v1_covered_b93a59c7-a743-48bf-bbd7-a90aa769e85e.pdf"}],"financialInterests":"No competing interests reported.","formattedTitle":"Distributed Sliding Mode Control approach with adaptive spacing policy for vehicle platoons in communication interruption scenario","fulltext":[],"fulltextSource":"","fullText":"","funders":[],"hasAdminPriorityOnWorkflow":false,"hasManuscriptDocX":false,"hasOptedInToPreprint":true,"hasPassedJournalQc":"","hasAnyPriority":false,"hideJournal":false,"highlight":"","institution":"","isAcceptedByJournal":true,"isAuthorSuppliedPdf":true,"isDeskRejected":"","isHiddenFromSearch":false,"isInQc":false,"isInWorkflow":false,"isPdf":true,"isPdfUpToDate":true,"isWithdrawnOrRetracted":false,"journal":{"display":true,"email":"[email protected]","identity":"scientific-reports","isNatureJournal":false,"hasQc":true,"allowDirectSubmit":false,"externalIdentity":"scirep","sideBox":"Learn more about [Scientific Reports](http://www.nature.com/srep/)","snPcode":"","submissionUrl":"","title":"Scientific Reports","twitterHandle":"","acdcEnabled":true,"dfaEnabled":true,"editorialSystem":"stoa","reportingPortfolio":"Scientific Reports","inReviewEnabled":true,"inReviewRevisionsEnabled":true},"keywords":"Connected and autonomous vehicles platoons, Communication interruption, Distributed exponential sliding mode control, Adaptive spacing policy, String stability","lastPublishedDoi":"10.21203/rs.3.rs-6008995/v1","lastPublishedDoiUrl":"https://doi.org/10.21203/rs.3.rs-6008995/v1","license":{"name":"CC BY 4.0","url":"https://creativecommons.org/licenses/by/4.0/"},"manuscriptAbstract":"\u003cp\u003eCommunication disruptions in connected and autonomous vehicle (CAV) platoons induce critical stability degradation. This study proposes a dual-layer framework that combines adaptive spacing policy switching and distributed exponential sliding mode control (DESMC). The hybrid policy dynamically switches between constant spacing (CS) and constant time headway (CTH) policies based on real-time metrics, such as packet loss exceeding 5% or RSSI dropping below -90 dBm. This approach reduces emergency braking by 85% compared to pure CS. Additionally, the DESMC controller utilizes an exponential approaching law, resulting in a 1.16% reduction in velocity RMSE and a 21.71% decrease in acceleration oscillations compared to conventional methods. Stability is verified using the Lyapunov theory, and string stability is validated under time delays via infinity-norm analysis. Simulations conducted on six CAVs show that, during failures, the system achieves a safe spacing of 8.7 meters, exceeding ETC standards by 8.75%. 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