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TECHNICAL PAPERS

Multiple Sliding Surface Control: Theory and Application

[+] Author and Article Information
J. K. Hedrick

Department of Mechanical Engineering, University of California, Berkeley, CA 94720e-mail: khedrick@me.berkeley.edu.

P. P. Yip

Hifn Inc., 750 University Ave., Los Gatos, CA 95032e-mail: ppyip@alum.mit.edu

J. Dyn. Sys., Meas., Control 122(4), 586-593 (Feb 18, 2000) (8 pages) doi:10.1115/1.1321268 History: Received February 18, 2000
Copyright © 2000 by ASME
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References

Slotine,  J. J., 1984, “Sliding Controller Design for Nonlinear Systems,” Int. J. Control, 40, No. 2, pp. 421–443.
Corless,  M., and Leitmann,  G., 1981, “Continuous State Feedback Guarantees Uniform Ultimate Boundeness for Uncertain Dynamical Systems,” IEEE Trans. Autom. Control, 26, pp. 1139–1144.
Krstic, M., Kanellakapoulous, I., Kokotovic, P., 1995, Nonlinear and Adaptive Control Design, Wiley Interscience, New York.
Green, J., and Hedrick, J. K., 1990, “Nonlinear Speed Control for Automotive Engines,” Proc. 1990 American Control Conference, San Diego, CA, Vol. 3, pp. 2891–2898.
Won,  M., and Hedrick,  J. K., 1996, “Multiple-Surface Sliding Control of a Class of Uncertain Nonlinear Systems,” Int. J. Control, 64, pp. 693–706.
Gerdes, J. C., and Hedrick, J. K., 1996, “Vehicle Speed and Spacing Control Via Coordinated Throttle and Brake Actuation,” Proc. 13th IFAC World Congress, San Francisco, CA.
Swaroop, D., Gerdes, J. C., Yip, P. P., and Hedrick, J. K., 1997, “Dynamic Surface Control of Nonlinear Systems,” Proc. 1997 ACC, Albuquerque, NM, pp. 3028–3034.
Yip,  P. P., and Hedrick,  J. K., 1998, “Adaptive Dynamic Surface Control,” Int. J. Control, 71, pp. 959–979.
Gerdes, J. C., 1996, “Decoupled Design of Robust Controllers for Nonlinear Systems: as Motivated by and Applied to Coordinated Throttle and Brake Control for Automated Highways,” Ph.D. dissertation, University of California, Berkeley.
Swaroop,  D., Gerdes,  J. C., Yip,  P. P., and Hedrick,  J. K., 1996, “Dynamic Surface Control of Nonlinear Systems,” Technical Report, Vehicle Dynamics and Control Laboratory, University of California, Berkeley.
Yip, P. P., 1997, “Robust and Adaptive Nonlinear Control Using Dynamic Surface Controller with Applications to Intelligent Vehicle Highway Systems,” Ph.D. dissertation, University of California, Berkeley.
Swaroop, D., Hedrick, J. K., Yip, P. P., and Gerdes, J. C., 2000, “Dynamic Surface Control for a class of Nonlinear Systems,” IEEE Trans. Autom. Control, 45 , No. 10.
Hedrick, J. K., 1998, “Nonlinear Controller Design for Automated Vehicle Applications,” Proc. United Kingdom Automatic Control Conference (UKACC’98), Swansea, UK.
McMahon, D. H., Hedrick, J. K., and Shladover, S. E., 1990, “Vehicle Modeling and Control for Automated Highway Systems,” Proc. 1990 ACC, San Diego, CA. pp. 297–303.
Cho,  D., and Hedrick,  J. K., 1989, “Automotive Powertrain Modeling for Control,” ASME J. Dyn. Syst., Meas., Control, 111, pp. 568–576.
Gerdes, J. C., and Hedrick, J. K., 1995, “Brake System Requirements for Platooning on an Automated Highway,” Proc. 1995 ACC, Seattle, WA, pp. 165–169.

Figures

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Free body diagram for longitudinal motion of an automobile
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Single circuit brake hydraulic model
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The velocity profile of the lead car
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The spacing error of the five followers
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Spacing error of the followers using DSC with 40% error in Ca
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Spacing errors for adaptive DSC
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Estimates for the aerodynamic drag coefficient

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