Abstract
Due to their outstanding robustness properties, feedback loops based on the ideas of sliding mode control are well suited for the application in platooning scenarios. In this chapter, homogenous platoons without any communication between the vehicles in the platoon are investigated. It is demonstrated that neglecting actuator dynamics during the design phase of sliding mode controllers leads to chattering which becomes evident as stable self-sustained oscillations (limit cycles) within the control loop. In this contribution, the characteristics of these limit cycles are exploited to adjust the velocity-dependent inter-vehicle distances such that a string stable platoon can be achieved although the actuator dynamics are neglected in the design phase of the controllers. Two well-known sliding mode algorithms, a classical first-order concept and the super twisting algorithm, are investigated and simulation results are presented.
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Notes
- 1.
Laplace transforms are denoted by bars.
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Acknowledgements
The financial support by the Christian Doppler Research Association, the Austrian Federal Ministry for Digital and Economic Affairs and the National Foundation for Research, Technology and Development is gratefully acknowledged and was supported by the European Unions Horizon 2020 Research and Innovation Programme (H2020-MSCA-RISE-2016) under the Marie Sklodowska-Curie grant Agreement 734832.
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Reichhartinger, M., Leitner, A., Horn, M. (2022). Tuning Sliding Mode Controllers for String Stability. In: Irschik, H., Krommer, M., Matveenko, V.P., Belyaev, A.K. (eds) Dynamics and Control of Advanced Structures and Machines. Advanced Structured Materials, vol 156. Springer, Cham. https://doi.org/10.1007/978-3-030-79325-8_17
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