Sliding Mode Based Platooning: Theory and Applications

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Abstract

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.
Originalspracheenglisch
TitelVariable-Structure Systems and Sliding-Mode Control
UntertitelFrom Theory to Practice
Redakteure/-innenMartin Steinberger, Martin Horn, Leonid Fridman
Herausgeber (Verlag)Springer International Publishing AG
Seiten393-431
ISBN (elektronisch)978-3-030-36621-6
ISBN (Print)978-3-030-36620-9
PublikationsstatusVeröffentlicht - 2020

Publikationsreihe

NameStudies in Systems, Decision and Control
Herausgeber (Verlag)Springer International Publishing
Band271
ISSN (elektronisch)2198-4182

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    Rupp, A., Steinberger, M., & Horn, M. (2020). Sliding Mode Based Platooning: Theory and Applications. in M. Steinberger, M. Horn, & L. Fridman (Hrsg.), Variable-Structure Systems and Sliding-Mode Control: From Theory to Practice (S. 393-431). (Studies in Systems, Decision and Control; Band 271). Springer International Publishing AG .