Tuning Sliding Mode Controllers for String Stability

Markus Reichhartinger*, Astrid Leitner, Martin Horn

*Corresponding author for this work

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


Due to their outstanding robustness properties, feedback loops based on the ideas of sliding mode control are well suited for the application in platooning scenarios. In this chapter, homogenous platoons without any communication between the vehicles in the platoon are investigated. It is demonstrated that neglecting actuator dynamics during the design phase of sliding mode controllers leads to chattering which becomes evident as stable self-sustained oscillations (limit cycles) within the control loop. In this contribution, the characteristics of these limit cycles are exploited to adjust the velocity-dependent inter-vehicle distances such that a string stable platoon can be achieved although the actuator dynamics are neglected in the design phase of the controllers. Two well-known sliding mode algorithms, a classical first-order concept and the super twisting algorithm, are investigated and simulation results are presented.

Original languageEnglish
Title of host publicationDynamics and Control of Advanced Structures and Machines
Subtitle of host publicationContributions from the 4th International Workshop, Linz, Austria
Place of PublicationCham
PublisherSpringer Science and Business Media Deutschland GmbH
Number of pages10
ISBN (Electronic)978-3-030-79325-8
ISBN (Print)978-3-030-79324-1
Publication statusPublished - 2022

Publication series

NameAdvanced Structured Materials
ISSN (Print)1869-8433
ISSN (Electronic)1869-8441

ASJC Scopus subject areas

  • Materials Science(all)


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