NONLINEAR LONGITUDINAL CONTROLLER IMPLEMENTATION AND COMPARISON FOR AUTOMATED CARS

In this paper, the authors describe the implementation and comparison of nonlinear controllers used in the longitudinal control of cars in a platoon. The controllers, which include an adaptive sliding mode controller, a dynamic sliding mode controller, and a dynamic back- stepping multiple surface controller., are compared for their performance. Results from real-time tests show that each controller has its own characteristics. Emphasis is on the dynamic back-stepping multiple surface controller.

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