Sliding-mode-based platooning: theory and applications. (English) Zbl 1461.93076

Rupp, Astrid; Steinberger, Martin; Horn, Martin

Steinberger, Martin (ed.) et al., Variable-structure systems and sliding-mode control. From theory to practice. Cham: Springer. Stud. Syst. Decis. Control 271, 393-431 (2020).

Summary: This chapter discusses sliding-mode-based approaches for longitudinal control of vehicles. In the platooning applications, several vehicles are aligned in a string for economic reasons, e.g., for the sake of saving fuel. Each vehicle has an immediate impact on the followers leading to dynamic phenomena along the string. The so-called string stable controllers based on sliding-mode controllers are the focus of this work. In addition, position error overshoots have been eliminated, and thus dynamic effects leading to collisions can be avoided. The controllers have been implemented on a testbed consisting of small-scale vehicles, and experimental results are shown.
For the entire collection see [Zbl 1459.93004].

MSC:

93B12

Variable structure systems

Software:

AprilCal; RT-MaG

References:

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