This paper presents the implementation and comparison of nonlinear controllers in the longitudinal control of cars for platooning. Based on the previous implementation of adaptive sliding mode controller, a dynamic sliding mode controller and a dynamic back-stepping multiple surface controller have been implemented. These three controllers have been compared with the test results. Realtime run shows that each controller has its own characteristics. Emphasis has been put on the dynamic back-stepping multiple surface controller.
1.
Fenton
, R. E.
, and Bender
, J. G.
, 1969
, “A study of automatic car following
,” IEEE Trans. Veh. Technol.
, VT-18
, No. 3
, pp. 134
–140
.2.
Garrard
, W. L.
, Caudill
, R. J.
, Kornhauser
, A. L.
, MacKinnon
, D.
, and Brown
, S. J.
, 1978
, “State-of-the-art of longitudinal control of automated guided transit vehicles
,” High Speed Ground Transportation Journal
, 12
, No. 2
, pp. 256
–268
.3.
Shladover
, S. E.
, 1978
, “Longitudinal control of automotive vehicles in close-vehicle formation platoons
,” ASME J. Dyn. Syst., Meas., Control
, 100
, pp. 302
–310
.4.
Cho
, D.
, and Hedrick
, J. K.
, 1989
, “Automotive power train modelling for control
,” ASME J. Dyn. Syst., Meas., Control
, 111
, pp. 568
–576
.5.
Choi, S.-B., 1994, “Vehicle longitudinal control test,” PATH Research Report, UCB-ITS-PRR-94-15, UC Berkeley.
6.
Gerdes, J. C., Maciuca, D. B., Devlin, P. E., and Hedrick, J. K., 1993, “Brake system modeling for ivhs longitudinal control,” Advances in Robust and Nonlinear Control, DSC-Vol. 53, pp. 119–126.
7.
Maciuca, D. B., and Hedrick, J. K., 1995, “Advanced nonlinear brake system control for vehicle platooning,” Proc. of European Control Conference, Sept. 5–8, Rome, Italy, pp. 2402–2407.
8.
Rajamani, R., Choi, S. B., Hedrick, J. K., and Law, B., 1998, “Design and experimental implementation of control for a platoon of automated vehicles,” Proc. of the ASME Dynamic Systems and Control Division, ASME, pp. 681–689.
9.
Hedrick, J. K., 1998, “Nonlinear controller design for automated vehicle applications,” Proc. UKACC Int. Conf. on Contr. ’98, 1–4 Sept., Swansea, U. K., IEE, pp. 23–31.
10.
Swaroop
, D.
, and Hedrick
, J. K.
, 1996
, “String stability of interconnected systems
,” IEEE Trans. Autom. Control
, 40
, No. 3
, pp. 349
–357
.11.
Swaroop, D., Gerdes, J. C., Yip, P. P., and Hedrick, J. K., 1997, “Dynamic surface control of nonlinear systems,” Proc. of ACC-97, ACC, pp. 3028–3034.
12.
Lu, X. Y., and Hedrick, J. K., 2000, “Integral filters from a new viewpoint and their application in nonlinear control design,” L. K. Mestha, ed., Proc. of IEEE CCA/CACSD, Sept. 25–27, OMNIPRESS, Anchorage, Alaska, pp. 501–506.
13.
Cavallo
, A.
, and Maria
, G. D.
, 1993
, “Some control problems solved via a sliding manifold approach
,” Differential Equations and Dynamical Systems
, 1
, No. 4
, pp. 295
–310
.14.
DeCarlo
, R. A.
, Zak
, S. H.
, and Matthews
, G. P.
, 1988
, “Variable structure control of nonlinear multivariable systems: A tutorial
,” Proc. IEEE
, 76
, pp. 212
–232
.15.
Fernandez
, B. R.
, and Hedrick
, J. K.
, 1987
, “Control of multivariable non-linear systems by the sliding mode method
,” Int. J. Control
, 46
, No. 3
, pp. 1019
–1040
.16.
Gopalswamy
, S.
, and Hedrick
, J. K.
, 1993
, “Tracking nonlinear non-minimum phase systems using sliding control
,” Int. J. Control
, 57
, No. 5
, pp. 1141
–1158
.17.
Lu
, X. Y.
, and Spurgeon
, S. K.
, 1997
, “Robust sliding mode control of uncertain nonlinear systems
,” Syst. Control Lett.
, 32
, No. 2
, pp. 75
–90
.18.
Lu
, X. Y.
, and Spurgeon
, S. K.
, 1998
, “Asymptotic stabilization of multiple input nonlinear systems via sliding modes
,” Dyn. Control
, 8
, pp. 231
–254
.19.
Slotine
, J.-J. E.
, and Coetsee
, J. A.
, 1986
, “Adaptive sliding controller synthesis for non-linear systems
,” Int. J. Control
, 43
, pp. 1631
–1651
.20.
Slotine
, J.-J. E.
, and Hendrick
, J. K.
, 1993
, “Robust input-output feedback linearisation
,” Int. J. Control
, 57
, No. 5
, pp. 1133
–1139
.21.
Sira-Ramirez
, H.
, 1993
, “On the dynamical sliding mode control of nonlinear systems
,” Int. J. Control
, 57
, No. 5
, pp. 1039
–1061
.22.
Utkin, V. I., 1992, Sliding Modes in Control and Optimization, Springer-Verlag, Berlin.
23.
Lu
, X. Y.
, and Spurgeon
, S. K.
, 1999
, “Robustness of static sliding mode control for nonlinear systems
,” Int. J. Control
, 72
, No. 5
, pp. 1343
–1353
.24.
Byrnes
, C. I.
, Isidori
, A.
, and Willems
, J. C.
, 1992
, “Passivity, feedback equivalence and the global stabilization of minimum phase nonlinear systems
,” IEEE Trans. Autom. Control
, AC-36
, pp. 1228
–1240
.25.
Hill
, D.
, and Moylan
, H.
, 1976
, “The stability of nonlinear dissipative systems
,” IEEE Trans. Autom. Control
, AC-21
, pp. 708
–711
.26.
Isidori
, A.
, 1994
, “H∞ control via measurement feedback for affine nonlinear systems
,” Int. J. Robust Nonlinear Control
, 4
, pp. 553
–574
.27.
Lu, X. Y., and Hedrick, J. K., 2000, “H∞ sub-optimization in dynamic back-stepping multiple surface control,” to appear in Proc. of American Control Conference 2001, Arlington, Virginia, U.S.A.
28.
Lu, X. Y., Tan, H.-S., Shladover, S. E., and Hedrick, 2000, “Implementation of longitudinal control algorithm for vehicle merging, 5th Int. Symposium on Advanced Vehicle Control, Ann Arbor, Michigan, U.S.A., Aug. 22–24,” pp. 25–32.
Copyright © 2001
by ASME
You do not currently have access to this content.
