Nonlinear Longitudinal Controller Implementation and Comparison for Automated Cars

[+] Author and Article Information
Xiao-Yun Lu, Han-Shue Tan, Steven Shladover, J. Karl Hedrick

PATH, ITS, U. C. Berkeley, Richmond Field Station Bldg 452, 1357 S. 46th Street, Richmond, CA 94804

J. Dyn. Sys., Meas., Control 123(2), 161-167 (Jun 06, 2000) (7 pages) doi:10.1115/1.1368115 History: Received June 06, 2000
Copyright © 2001 by ASME
Your Session has timed out. Please sign back in to continue.


Fenton,  R. E., and Bender,  J. G., 1969, “A study of automatic car following,” IEEE Trans. Veh. Technol., VT-18, No. 3, pp. 134–140.
Garrard,  W. L., Caudill,  R. J., Kornhauser,  A. L., MacKinnon,  D., and Brown,  S. J., 1978, “State-of-the-art of longitudinal control of automated guided transit vehicles,” High Speed Ground Transportation Journal, 12, No. 2, pp. 256–268.
Shladover,  S. E., 1978, “Longitudinal control of automotive vehicles in close-vehicle formation platoons,” ASME J. Dyn. Syst., Meas., Control, 100, pp. 302–310.
Cho,  D., and Hedrick,  J. K., 1989, “Automotive power train modelling for control,” ASME J. Dyn. Syst., Meas., Control, 111, pp. 568–576.
Choi, S.-B., 1994, “Vehicle longitudinal control test,” PATH Research Report, UCB-ITS-PRR-94-15, UC Berkeley.
Gerdes, J. C., Maciuca, D. B., Devlin, P. E., and Hedrick, J. K., 1993, “Brake system modeling for ivhs longitudinal control,” Advances in Robust and Nonlinear Control, DSC-Vol. 53, pp. 119–126.
Maciuca, D. B., and Hedrick, J. K., 1995, “Advanced nonlinear brake system control for vehicle platooning,” Proc. of European Control Conference, Sept. 5–8, Rome, Italy, pp. 2402–2407.
Rajamani, R., Choi, S. B., Hedrick, J. K., and Law, B., 1998, “Design and experimental implementation of control for a platoon of automated vehicles,” Proc. of the ASME Dynamic Systems and Control Division, ASME, pp. 681–689.
Hedrick, J. K., 1998, “Nonlinear controller design for automated vehicle applications,” Proc. UKACC Int. Conf. on Contr. ’98, 1–4 Sept., Swansea, U. K., IEE, pp. 23–31.
Swaroop,  D., and Hedrick,  J. K., 1996, “String stability of interconnected systems,” IEEE Trans. Autom. Control, 40, No. 3, pp. 349–357.
Swaroop, D., Gerdes, J. C., Yip, P. P., and Hedrick, J. K., 1997, “Dynamic surface control of nonlinear systems,” Proc. of ACC-97, ACC, pp. 3028–3034.
Lu, X. Y., and Hedrick, J. K., 2000, “Integral filters from a new viewpoint and their application in nonlinear control design,” L. K. Mestha, ed., Proc. of IEEE CCA/CACSD, Sept. 25–27, OMNIPRESS, Anchorage, Alaska, pp. 501–506.
Cavallo,  A., and Maria,  G. D., 1993, “Some control problems solved via a sliding manifold approach,” Differential Equations and Dynamical Systems, 1, No. 4, pp. 295–310.
DeCarlo,  R. A., Zak,  S. H., and Matthews,  G. P., 1988, “Variable structure control of nonlinear multivariable systems: A tutorial,” Proc. IEEE, 76, pp. 212–232.
Fernandez,  B. R., and Hedrick,  J. K., 1987, “Control of multivariable non-linear systems by the sliding mode method,” Int. J. Control, 46, No. 3, pp. 1019–1040.
Gopalswamy,  S., and Hedrick,  J. K., 1993, “Tracking nonlinear non-minimum phase systems using sliding control,” Int. J. Control, 57, No. 5, pp. 1141–1158.
Lu,  X. Y., and Spurgeon,  S. K., 1997, “Robust sliding mode control of uncertain nonlinear systems,” Syst. Control Lett., 32, No. 2, pp. 75–90.
Lu,  X. Y., and Spurgeon,  S. K., 1998, “Asymptotic stabilization of multiple input nonlinear systems via sliding modes,” Dyn. Control, 8, pp. 231–254.
Slotine,  J.-J. E., and Coetsee,  J. A., 1986, “Adaptive sliding controller synthesis for non-linear systems,” Int. J. Control, 43, pp. 1631–1651.
Slotine,  J.-J. E., and Hendrick,  J. K., 1993, “Robust input-output feedback linearisation,” Int. J. Control, 57, No. 5, pp. 1133–1139.
Sira-Ramirez,  H., 1993, “On the dynamical sliding mode control of nonlinear systems,” Int. J. Control, 57, No. 5, pp. 1039–1061.
Utkin, V. I., 1992, Sliding Modes in Control and Optimization, Springer-Verlag, Berlin.
Lu,  X. Y., and Spurgeon,  S. K., 1999, “Robustness of static sliding mode control for nonlinear systems,” Int. J. Control, 72, No. 5, pp. 1343–1353.
Byrnes,  C. I., Isidori,  A., and Willems,  J. C., 1992, “Passivity, feedback equivalence and the global stabilization of minimum phase nonlinear systems,” IEEE Trans. Autom. Control, AC-36, pp. 1228–1240.
Hill,  D., and Moylan,  H., 1976, “The stability of nonlinear dissipative systems,” IEEE Trans. Autom. Control, AC-21, pp. 708–711.
Isidori,  A., 1994, “H control via measurement feedback for affine nonlinear systems,” Int. J. Robust Nonlinear Control, 4, pp. 553–574.
Lu, X. Y., and Hedrick, J. K., 2000, “H sub-optimization in dynamic back-stepping multiple surface control,” to appear in Proc. of American Control Conference 2001, Arlington, Virginia, U.S.A.
Lu, X. Y., Tan, H.-S., Shladover, S. E., and Hedrick, 2000, “Implementation of longitudinal control algorithm for vehicle merging, 5th Int. Symposium on Advanced Vehicle Control, Ann Arbor, Michigan, U.S.A., Aug. 22–24,” pp. 25–32.


Grahic Jump Location
Reconstructed demo code, 2nd car, following distance 4.0 m.
Grahic Jump Location
Dynamic sliding mode controller, 2nd car, following distance 4.0 m
Grahic Jump Location
Dynamic back-stepping sliding surface controller, 2nd car, following distance 4.0 m




Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related Journal Articles
Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In