Distributed Integrated Sliding Mode-Based Nonlinear Vehicle Platoon Control with Quadratic Spacing Policy

Algorithm 1

The DISM-based platoon control algorithm with QSP.

	Input: the initial position, velocity, acceleration of each vehicle;
	The controller parameters;
	Output: the spacing error of the any two adjacent vehicles converges to zero;
(1)	Initialization: the initial positions, velocities, accelerations of one lead vehicle and 4 followers: ; Controller parameters: ;
(2)	fordo
(3)	calculate , , by using (6);
(4)	construct integrated sliding surface by employing (9);
(5)	calculate and based on (10), (13), (14);
(6)	according to (16), calculate ;
(7)	update the acceleration, velocity, and position information of the ^th vehicle respectively by using (4);
(8)	end for