Title: Second-order sliding mode control of a platoon of vehicles

Authors: Antonella Ferrara, Claudio Vecchio

Addresses: Department of Computer Engineering and System Science, University of Pavia, Pavia 27100, Italy. ' Department of Computer Engineering and System Science, University of Pavia, Pavia 27100, Italy

Abstract: This paper presents the design of a longitudinal control system for a platoon of vehicles. The synthesis of an automatic vehicle following system is an important aspect of an automated highway system design. The main objectives of the control of a platoon of vehicles are the increment of the exploitation of the road capacity and the improvement of passengers| safety and comfort. The proposed control system is designed relying on a non-linear vehicle model. The chosen control methodology is second-order sliding mode control. This choice is motivated by the well-known robustness features of the sliding mode control approach, which are particularly appropriate dealing with the automotive context. Moreover, the proposed approach produces a considerable reduction of the chattering phenomenon, which can determine undesired mechanical wear in the actuators. The individual vehicle stability and platoon stability are guaranteed by the proposed control system. This latter is tested in simulation considering a platoon of three vehicles in a stop-and-go traffic situation.

Keywords: automated guided vehicles; AGVs; cruise control; sliding mode control; vehicle dynamics; vehicle control; longitudinal control; platoon of vehicles; automated highway systems; nonlinear modelling; chatter reduction; vibration reduction; automotive control; vehicle stability; platoon stability; simulation.

DOI: 10.1504/IJMIC.2008.020125

International Journal of Modelling, Identification and Control, 2008 Vol.3 No.3, pp.277 - 285

Published online: 28 Aug 2008 *

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