Sliding Mode Based Platooning With Non-Zero Initial Spacing Errors

Publikation: Beitrag in einer FachzeitschriftArtikelForschungBegutachtung

Abstract

This letter presents a novel approach to unidirectional formation control of multiple vehicles with non-zero initial spacing errors. It is based on concepts of first-order sliding mode control. A combination of two adaptive sliding surfaces enables collision-free platooning with asymptotic convergence to constant distance spacings. It is an attractive feature of the proposed algorithm that only position and velocity of the preceding vehicle are used so that no car-to-car communication is necessary.
Originalspracheenglisch
Seiten (von - bis)274
Seitenumfang279
FachzeitschriftIEEE Control Systems Letters
Jahrgang1
Ausgabenummer2
DOIs
PublikationsstatusVeröffentlicht - 13 Jun 2017

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Railroad cars
Sliding mode control
Communication

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    Sliding Mode Based Platooning With Non-Zero Initial Spacing Errors. / Rupp, Astrid; Steinberger, Martin; Horn, Martin.

    in: IEEE Control Systems Letters, Jahrgang 1, Nr. 2, 13.06.2017, S. 274.

    Publikation: Beitrag in einer FachzeitschriftArtikelForschungBegutachtung

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    abstract = "This letter presents a novel approach to unidirectional formation control of multiple vehicles with non-zero initial spacing errors. It is based on concepts of first-order sliding mode control. A combination of two adaptive sliding surfaces enables collision-free platooning with asymptotic convergence to constant distance spacings. It is an attractive feature of the proposed algorithm that only position and velocity of the preceding vehicle are used so that no car-to-car communication is necessary.",
    keywords = "Variable-structure/sliding-mode control , cooperative control , autonomous vehicles",
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