In this paper, the robust integral of the sign of the error (RISE) control methodology is employed to promote interspacing distance regulation within a leader-follower convoy system by directly compensating for the preceding vehicle’s velocity behavior. The RISE technique was considered since it offers the advantage of requiring less restriction/knowledge on/of the preceding vehicle’s behavior (e.g., structure and/or frequency). Furthermore, the RISE algorithm is combined with a headway distancing method to aid in promoting convoy stability and as a result requires only measurement of the preceding vehicle’s position signal. Simulation results are provided for an electrically actuated convoy system that demonstrates the efficacy of the proposed method.

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