Higher Order Sliding Mode Control and PREL Sliding Mode Control strategies For Urban Platooning

Abstract

The advancement in automation have propelled the technology of multi-agent systems which are used for various task like disaster management, obtaining the source of radiation leak, platooning, various military purposes. Automation in cars have also emerged which has lead to achieve an exceptional technology which is the Self-Driving car. The merging of Multi agent system with the Self-Driving car results in autonomous platooning in which each agent will be communicating with each other to perform the task. Platooning is one of the efficient methods for preventing traffic congestion and performance efficiency. The coming future would be propelled by electric vehicles and self-driving cars which drags the attention of researchers to investigate the automation in platooning. In this particular dissertation we would be discussing about the Higher order Super twisting Sliding mode control (SMC) and Sliding mode control with power rate exponential law for obtaining a robust, accurate platooning which can be considered for urban areas. In the first chapter of the dissertation we would be discussing about multi-agent systems,self driving car and platooning. The second chapter would be mentioning about how various control approach and other algorithm were used in achieving platooning and also the reason for choosing higher order SMC and SMC using PREL over other controllers. Then mathematical modelling of the vehicle dynamics, theory and Application of PID, conventional SMC, Super twisting SMC and PREL would be discussed. A comparative study of all the controller would be mentioned in the sixth chapter in which the robustness of all the controller would be tested. The results of all the controllers are obtained through Matlab Simulink model.