Nonlinear longitudinal controller implementation and comparison for automated cars

Authors
Lu, XY Tan, HS Shladover, S Hedrick, JK
Citation
Xy. Lu et al., Nonlinear longitudinal controller implementation and comparison for automated cars, J DYN SYST, 123(2), 2001, pp. 161-167
Citations number
28
Categorie Soggetti
AI Robotics and Automatic Control
Journal title
JOURNAL OF DYNAMIC SYSTEMS MEASUREMENT AND CONTROL-TRANSACTIONS OF THE ASME
ISSN journal
00220434 → ACNP
Volume
123
Issue
2
Year of publication
2001
Pages
161 - 167
Database
ISI
SICI code
0022-0434(200106)123:2<161:NLCIAC>2.0.ZU;2-B
Abstract
This paper presents the implementation and comparison of nonlinear controll ers in the longitudinal control of cars for platooning. Based on the previo us implementation of adaptive sliding mode controller; a dynamic sliding mo de 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 characteristic s. Emphasis has been put on the dynamic back-stepping multiple surface cont roller.