In this paper, the modelling and design of nonlinear disturbance decoupling control for the longitudinal stop and go (SG) cruise system of heavy-duty truck is addressed. By integrating the nonlinear longitudinal dynamics of controlled heavy-duty truck and inter-vehicles under low-speed condition, two comprehensive nonlinear vehicle cruise dynamics control (VCDC) models are derived for driving and braking subsystem, respectively. Based on the nonlinear VCDC model, the nonlinear disturbance decoupling via static state feedback is adopted to separate the disturbance of the leading vehicle's acceleration/deceleration from a desired control objective (i.e. the inter-vehicles relative distance and velocity) and results in a linearised decoupling subsystem, independent of disturbance simultaneously. Then, an improved vehicle longitudinal SG cruise control system is proposed by utilising this linearised decoupling subsystem. Computer simulation is carried out to confirm the performance of improved control system. The results illustrate that not only is the desired dynamic response achieved, but also better robustness is accomplished.


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    Title :

    Nonlinear disturbance decoupling control of heavy-duty truck stop and go cruise system


    Contributors:
    Yang, Bin (author) / Keqiang, Li (author) / Hiroshi, Ukawa (author) / Masatoshi, Handa (author)

    Published in:

    Vehicle System Dynamics ; 47 , 1 ; 29-55


    Publication date :

    2009-01-01


    Size :

    27 pages




    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    Unknown





    Nonlinear disturbance decoupling control of heavy-duty truck stop and go cruise system

    Yang,B. / Keqiang,L. / Hiroshi,U. et al. | Automotive engineering | 2009


    Nonlinear disturbance decoupling control of heavy-duty truck stop and go cruise system

    Yang, Bin / Li, Keqiang / Hiroshi, Ukawa et al. | Tema Archive | 2009


    Adaptive Cruise Control for Heavy Duty Vehicles

    Chakraborty, S. / Smedley, D. G. / Intelligent Transportation Society of America | British Library Conference Proceedings | 1995


    Cruise Control with Automatic Gear Selection for Light-Duty Truck

    Kasai, Hitoshi / Kuroyanagi, Junzoh / Inagawa, Shinichi et al. | SAE Technical Papers | 1987