Sliding Mode Based Platooning: Theory and Applications

Astrid Rupp*, Martin Steinberger, Martin Horn

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingChapterpeer-review


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.
Original languageEnglish
Title of host publicationVariable-Structure Systems and Sliding-Mode Control
Subtitle of host publicationFrom Theory to Practice
EditorsMartin Steinberger, Martin Horn, Leonid Fridman
PublisherSpringer International Publishing AG
Number of pages39
ISBN (Electronic)978-3-030-36621-6
ISBN (Print)978-3-030-36620-9
Publication statusPublished - 11 Feb 2020

Publication series

NameStudies in Systems, Decision and Control
ISSN (Print)2198-4182
ISSN (Electronic)2198-4190


  • platooning
  • sliding mode control
  • adaptive time headway
  • string stability
  • actuator dynamics
  • robust formation control
  • experimental evaluation
  • small scale test bed

ASJC Scopus subject areas

  • Computer Science (miscellaneous)
  • Control and Optimization
  • Decision Sciences (miscellaneous)
  • Economics, Econometrics and Finance (miscellaneous)
  • Control and Systems Engineering
  • Automotive Engineering
  • Social Sciences (miscellaneous)


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