String Stability Analysis for Sliding Mode Controllers in Platoons with Unmodeled Actuator Dynamics: A Frequency Domain Approach

摘要

This paper discusses the effects of sliding mode based platooning algorithms in presence of unmodeled dynamics. The inevitable periodic motions of the sliding variables are investigated and their impact on a platoon are discussed. Conditions on the parameters of a control law are formulated such that string stability is achieved. A design technique based on describing functions of a first order sliding mode controller and the suboptimal controller is proposed. Simulation and experimental results on small-scale vehicles support the presented results.