Nonlinear Longitudinal Controller Implementation and Comparison for Automated Cars

Abstract

This paper presents the implementation and comparison of nonlinear controllers in the longitudinal control of cars for platooning. Based on the previous implementation of adaptive sliding mode controller, a dynamic sliding mode controller and a dynamic back-stepping multiple surface controller have been implemented. These three controllers have been compared with the test results. Realtime run shows that each controller has its own characteristics. Emphasis has been put on the dynamic back-stepping multiple surface controller.