A. Rupp, Raffael Wallner, Stefan Koch, M. Reichhartinger, M. Horn
{"title":"Sliding Mode Based Platooning with Actuator Dynamics","authors":"A. Rupp, Raffael Wallner, Stefan Koch, M. Reichhartinger, M. Horn","doi":"10.1109/VSS.2018.8460403","DOIUrl":null,"url":null,"abstract":"This paper discusses the effects of actuator dynamics incorporated into sliding mode based platooning algorithms. A first order sliding mode control and the suboptimal controller are investigated using constant distance and constant time-headway spacing. String stable platooning can be achieved with a reasonable choice of the time-headway. Simulations results are presented and finally, the algorithms have been implemented and tested on small-scale vehicles.","PeriodicalId":127777,"journal":{"name":"2018 15th International Workshop on Variable Structure Systems (VSS)","volume":"71 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2018-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"2","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"2018 15th International Workshop on Variable Structure Systems (VSS)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/VSS.2018.8460403","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 2
Abstract
This paper discusses the effects of actuator dynamics incorporated into sliding mode based platooning algorithms. A first order sliding mode control and the suboptimal controller are investigated using constant distance and constant time-headway spacing. String stable platooning can be achieved with a reasonable choice of the time-headway. Simulations results are presented and finally, the algorithms have been implemented and tested on small-scale vehicles.
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