Skip to main content
SpringerLink
Log in

Sliding-Mode-Based Platooning: Theory and Applications

  • Chapter
  • First Online:
Variable-Structure Systems and Sliding-Mode Control

Part of the book series: Studies in Systems, Decision and Control ((SSDC,volume 271))

Abstract

This chapter discusses sliding-mode-based approaches for longitudinal control of vehicles. In the platooning applications, several vehicles are aligned in a string for economic reasons, e.g., for the sake of saving fuel. Each vehicle has an immediate impact on the followers leading to dynamic phenomena along the string. The so-called string stable controllers based on sliding-mode controllers are the focus of this work. In addition, position error overshoots have been eliminated, and thus dynamic effects leading to collisions can be avoided. The controllers have been implemented on a testbed consisting of small-scale vehicles, and experimental results are shown.

This is a preview of subscription content, log in via an institution to check access.

Access this chapter

Log in via an institution

Subscribe and save

Springer+ Basic
$34.99 /Month
  • Get 10 units per month
  • Download Article/Chapter or eBook
  • 1 Unit = 1 Article or 1 Chapter
  • Cancel anytime
Subscribe now

Buy Now

Chapter
USD 29.95
Price excludes VAT (USA)
  • Available as PDF
  • Read on any device
  • Instant download
  • Own it forever
eBook
USD 129.00
Price excludes VAT (USA)
  • Available as EPUB and PDF
  • Read on any device
  • Instant download
  • Own it forever
Softcover Book
USD 169.99
Price excludes VAT (USA)
  • Compact, lightweight edition
  • Dispatched in 3 to 5 business days
  • Free shipping worldwide - see info
Hardcover Book
USD 169.99
Price excludes VAT (USA)
  • Durable hardcover edition
  • Dispatched in 3 to 5 business days
  • Free shipping worldwide - see info

Tax calculation will be finalised at checkout

Purchases are for personal use only

Institutional subscriptions

Similar content being viewed by others

Notes

  1. 1.

    Note that the locus of perturbed relay systems (LPRS) approach can be used to achieve an exact value for the equivalent gain [7]; however, since the approximations of the describing function analysis are not as involving as the LPRS method and match the simulations and experiments, the latter approach is used.

  2. 2.

    Videos of the testbed can be found at [1].

  3. 3.

    http://www.tamiya.de/de/produkte/rcmodelltrucks.htm.

  4. 4.

    http://beagleboard.org/black.

  5. 5.

    http://www.tp-link.com/at/products/details/cat-9_TL-WR802N.html.

  6. 6.

    http://www.conrad.at/de/reely-strassenmodel-audi-rs6-brushed-110-rc-modellauto-elektro-strassenmodell-allradantrieb-rtr-24-ghz-238002.html.

  7. 7.

    http://www.amainhobbies.com/lrp-vector-x20-brushless-motor-6.5-lrp50674/p226984.

  8. 8.

    http://vedder.se/2015/01/vesc-open-source-esc.

  9. 9.

    http://www.logitech.com/de-at/product/c930e-webcam.

  10. 10.

    http://gopro.com all links accessed: 2018-04-09.

  11. 11.

    http://www.optoma.de/projectorproduct/x320ust.

  12. 12.

    http://people.csail.mit.edu/kaess/apriltags.

  13. 13.

    http://de.mathworks.com/products/simulink.html.

  14. 14.

    http://elinux.org/BeagleBoardDebian#Mainline_.284.4.x_lts.29.

References

  1. Automated driving lab, institute of automation and control. https://www.tugraz.at/en/institutes/irt/automated-driving-lab/videos/ (2018). Accessed 24 Jan 2018

  2. KTH Smart Mobility Lab. https://www.kth.se/en/ees/omskolan/organisation/avdelningar/ac/research/control-of-transport/smart-mobility-lab/smart-mobility-lab-1.441539 (2017). Accessed 19 Oct 2017

  3. Amodeo, M., Ferrara, A., Terzaghi, R., Vecchio, C.: Slip control for vehicles platooning via second order sliding modes. In: 2007 IEEE Intelligent Vehicles Symposium, pp. 761–766 (2007)

    Google Scholar 

  4. Bartolini, G., Ferrara, A., Usai, E.: Output tracking control of uncertain nonlinear second-order systems. Automatica 33(12), 2203–2212 (1997)

    Article  MathSciNet  Google Scholar 

  5. Boiko, I.: Discontinuous Control Systems: Frequency-Domain Analysis and Design. Springer, Berlin (2008)

    MATH  Google Scholar 

  6. Boiko, I., Fridman, L., Pisano, A., Usai, E.: Analysis of chattering in systems with second-order sliding modes. IEEE Trans. Autom. Control 52(11), 2085–2102 (2007)

    Article  MathSciNet  Google Scholar 

  7. Boiko, I., Fridman, L., Pisano, A., Usai, E.: On the transfer properties of the “generalized sub-optimal” second-order sliding mode control algorithm. IEEE Trans. Autom. Control 54(2), 399–403 (2009)

    Article  MathSciNet  Google Scholar 

  8. Eigel, T.: Integrierte Längs-und Querführung von Personenkraftwagen mittels Sliding-Mode-Regelung. Ph.D. thesis, Technische Universität Braunschweig (2009)

    Google Scholar 

  9. Eyre, J., Yanakiev, D., Kanellakopoulos, I.: String stability properties of AHS longitudinal vehicle controllers. In: Transportation Systems, pp. 71–76 (1997)

    Article  Google Scholar 

  10. Eyre, J., Yanakiev, D., Kanellakopoulos, I.: A simplified framework for string stability analysis of automated vehicles. Vehicle Syst. Dyn. 30(5), 375–405 (1998)

    Article  Google Scholar 

  11. Ferrara, A., Incremona, G.P.: Sliding modes control in vehicle longitudinal dynamics control. In: Advances in Variable Structure Systems and Sliding Mode Control - Theory and Applications, pp. 357–383. Springer (2018)

    Google Scholar 

  12. Ferrara, A., Librino, R., Massola, A., Miglietta, M., Vecchio, C.: Sliding mode control for urban vehicles platooning. In: 2008 IEEE Intelligent Vehicles Symposium, pp. 877–882 (2008)

    Google Scholar 

  13. Ferrara, A., Vecchio, C.: Controlling a platoon of vehicles via a second order sliding mode approach. IFAC Proc. 39(12), 439–444 (2006)

    Article  Google Scholar 

  14. Ferrara, A., Vecchio, C.: Second order sliding mode control of vehicles with distributed collision avoidance capabilities. Mechatronics 19(4), 471–477 (2009). Robotics and Factory of the Future, New Trends and Challenges in Mechatronics

    Google Scholar 

  15. Guo, X., Wang, J., Liao, F., Teo, R.S.H.: CNN-based distributed adaptive control for vehicle-following platoon with input saturation. IEEE Trans. Intell. Transp. Syst. 19(10), 3121–3132 (2018)

    Article  Google Scholar 

  16. Guo, X., Wang, J., Liao, F., Teo, R.S.H.: Distributed adaptive integrated-sliding-mode controller synthesis for string stability of vehicle platoons. IEEE Trans. Intell. Transp. Syst. 17(9), 2419–2429 (2016)

    Article  Google Scholar 

  17. Khalil, H.K.: Nonlinear Systems. Prentice-Hall, Upper Saddle River (2002)

    MATH  Google Scholar 

  18. Klinge, S., Middleton, R.H.: Time headway requirements for string stability of homogeneous linear unidirectionally connected systems. In: Proceedings of the 48th IEEE Conference on Decision and Control, 2009 held jointly with the 2009 28th Chinese Control Conference. CDC/CCC 2009, pp. 1992–1997. IEEE (2009)

    Google Scholar 

  19. Kwon, J., Chwa, D.: Adaptive bidirectional platoon control using a coupled sliding mode control method. IEEE Trans. Intell. Transp. Syst. 15(5), 2040–2048 (2014)

    Article  Google Scholar 

  20. Manecy, A., Marchand, N., Viollet, S.: RT-MaG: an open-source SIMULINK toolbox for linux-based real-time robotic applications. In: 2014 IEEE International Conference on Robotics and Biomimetics (ROBIO 2014). Institute of Electrical and Electronics Engineers (IEEE) (2014)

    Google Scholar 

  21. Marzbani, H., Jazar, R., Fard, M.: Better road design using clothoids. In: Denbratt, I., Subic, A., Wellnitz, J. (eds.) Sustainable Automotive Technologies 2014. Lecture Notes in Mobility, Chapter 3, pp. 25–40. Springer, Berlin (2015)

    Chapter  Google Scholar 

  22. Olson, E.: AprilTag: a robust and flexible visual fiducial system. In: 2011 IEEE International Conference on Robotics and Automation. Institute of Electrical and Electronics Engineers (IEEE) (2011)

    Google Scholar 

  23. Öncü, S., van de Wouw, N., Heemels, W.P. M.H., Nijmeijer, H.: String stability of interconnected vehicles under communication constraints. In: 2012 IEEE 51st IEEE Conference on Decision and Control (CDC), pp. 2459–2464. IEEE (2012)

    Google Scholar 

  24. Ploeg, J., Shukla, D.P., van de Wouw, N., Nijmeijer, H.: Controller synthesis for string stability of vehicle platoons. IEEE Trans. Intell. Transp. Syst. 15(2), 854–865 (2014)

    Article  Google Scholar 

  25. Richardson, A., Strom, J., Olson, E.: AprilCal: assisted and repeatable camera calibration. In: 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems. Institute of Electrical and Electronics Engineers (IEEE) (2013)

    Google Scholar 

  26. Rupp, A.: Trajectory Planning and Formation Control for Automated Driving on Highways. Ph.D. thesis, Graz University of Technology (2018)

    Google Scholar 

  27. Rupp, A., Reichhartinger, M., Horn, M.: String stability analysis for sliding mode controllers in platoons with unmodeled actuator dynamics: a frequency domain approach. In: 2019 European Control Conference (ECC) (2019)

    Google Scholar 

  28. Rupp, A., Steinberger, M., Horn, M.: Sliding mode based platooning with non-zero initial spacing errors. IEEE Control Syst. Lett. 1(2), 274–279 (2017)

    Article  Google Scholar 

  29. Rupp, A., Tranninger, M., Wallner, M., Zubaca, J., Steinberger, M., Horn, M.: Fast and low-cost testing of advanced driver assistance systems using small-scale vehicles. In: Proceedings of the 9th IFAC Symposium on Advances in Automotive Control (AAC 2019) (2019)

    Google Scholar 

  30. Rupp, A., Wallner, R., Koch, R., Reichhartinger, M., Horn, M.: Sliding mode based platooning with actuator dynamics. In: 2018 15th International Workshop on Variable Structure Systems (VSS) (2018)

    Google Scholar 

  31. Seiler, P., Pant, A., Hedrick, K.: Disturbance propagation in vehicle strings. IEEE Trans. Autom. Control 49(10), 1835–1842 (2004)

    Article  MathSciNet  Google Scholar 

  32. Swaroop, D., Hedrick, J.K.: String stability of interconnected systems. IEEE Trans. Autom. Control 41(3), 349–357 (1996)

    Article  MathSciNet  Google Scholar 

  33. Utkin, V., Lee, H.: Chattering problem in sliding mode control systems. In: International Workshop on Variable Structure Systems, 2006. VSS’06., pp. 346–350 (2006)

    Google Scholar 

  34. Watzenig, D., Horn, M. (eds.): Automated Driving 2016: Safer and More Efficient Future Driving. Springer, Berlin (2017)

    Google Scholar 

  35. Yanakiev, D., Kanellakopoulos, I.: A simplified framework for string stability analysis in AHS. In: Proceedings of the 13th IFAC World Congress, vol. 182, pp. 177–182 (1996)

    Article  Google Scholar 

  36. Zhou, J., Peng, H.: String stability conditions of adaptive cruise control algorithms. IFAC Proc. Vol. 37(22), 649–654 (2004). IFAC Symposium on Advances in Automotive Control 2004, Salerno, Italy, 19–23 April 2004

    Article  Google Scholar 

Download references

Acknowledgements

This work was accomplished in cooperation with the VIRTUAL VEHICLE Research Center in Graz, Austria, supported by the industrial partners AVL List GmbH and MAGNA STEYR Engineering AG & Co KG. The authors would like to acknowledge the financial support of the Austrian COMET K2 - Competence Centers for Excellent Technologies Programme of the Austrian Federal Ministry for Transport, Innovation and Technology (bmvit), the Austrian Federal Ministry of Science, Research and Economy (bmwfw), the Austrian Research Promotion Agency (FFG), the Province of Styria, and the Styrian Business Promotion Agency (SFG).

Author information

Authors and Affiliations

  1. Institute of Automation and Control, Graz University of Technology, Graz, Austria

    Astrid Rupp, Martin Steinberger & Martin Horn

  2. FPrimeZero GmbH, Wien, Austria

    Astrid Rupp

Authors
  1. Astrid Rupp
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Martin Steinberger
    View author publications

    You can also search for this author in PubMed Google Scholar

  3. Martin Horn
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding author

Correspondence to Astrid Rupp .

Editor information

Editors and Affiliations

  1. Institute of Automation and Control, Graz University of Technology, Graz, Austria

    Martin Steinberger

  2. Institute of Automation and Control, Graz University of Technology, Graz, Austria

    Martin Horn

  3. Control Engineering and Robotics Department, National Autonomous University of Mexico, Mexico City, Distrito Federal, Mexico

    Leonid Fridman

Rights and permissions

Reprints and permissions

Copyright information

© 2020 Springer Nature Switzerland AG

About this chapter

Check for updates. Verify currency and authenticity via CrossMark

Cite this chapter

Rupp, A., Steinberger, M., Horn, M. (2020). Sliding-Mode-Based Platooning: Theory and Applications. In: Steinberger, M., Horn, M., Fridman, L. (eds) Variable-Structure Systems and Sliding-Mode Control. Studies in Systems, Decision and Control, vol 271. Springer, Cham. https://doi.org/10.1007/978-3-030-36621-6_13

Download citation

Publish with us

Policies and ethics

Search

Navigation