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Proceedings Paper

Sliding mode full-state feedback longitudinal control of vehicles in an automated highway system (AHS)
Author(s): Pushkin Kachroo
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Paper Abstract

Longitudinal control of vehicles to maintain some desirable headway between vehicles is one of the most important control issues in advanced vehicle control systems (AVCS) for Automated Highway Systems (AHS). This paper describes the design and simulation results of a nonlinear robust full-state feedback control design based on the sliding mode technique for the automatic maintenance of headway between vehicles. The longitudinal dynamic model of the system is nonlinear, time varying, and has functional and parametric uncertainties. These uncertainties are effectively addressed by the sliding mode controller (SMC). The problem of chattering in sliding mode is eliminated by introducing a boundary layer.

Paper Details

Date Published: 27 December 1995
PDF: 9 pages
Proc. SPIE 2591, Mobile Robots X, (27 December 1995); doi: 10.1117/12.228981
Show Author Affiliations
Pushkin Kachroo, Virginia Polytechnic Institute and State Univ. (United States)

Published in SPIE Proceedings Vol. 2591:
Mobile Robots X
William J. Wolfe; Chase H. Kenyon, Editor(s)

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