Title :
Experimental comparison of nonlinear control strategies for vehicle speed control
Author :
Hunt, K.J. ; Kalkkuhl, J. ; Fritz, H. ; Johansen, T.A. ; Göttsche, Th
Author_Institution :
Dept. of Mech. Eng., Glasgow Univ., UK
Abstract :
This paper describes an experimental comparison of two alternative nonlinear automotive speed control systems. The first approach is based on interpolation of multiple linear controllers designed using multiple local linear models. The second approach is based upon geometric nonlinear control theory and utilises feedback linearisation. This paper focuses on the engineering aspects and experimental comparison in a test vehicle. The controllers are tested in a range of speed-profile tracking tasks, and in a disturbance rejection task (the vehicle is driven up a 10% slope). For comparison, linear PI/PID controllers are implemented
Keywords :
automobiles; feedback; linearisation techniques; nonlinear control systems; three-term control; two-term control; velocity control; PI control; PID control; automobiles; feedback; interpolation; linearisation; nonlinear control; speed control; tracking; Control design; Control systems; Control theory; Diesel engines; Gears; Nonlinear control systems; Testing; Three-term control; Vehicle dynamics; Velocity control;
Conference_Titel :
Control Applications, 1998. Proceedings of the 1998 IEEE International Conference on
Conference_Location :
Trieste
Print_ISBN :
0-7803-4104-X
DOI :
10.1109/CCA.1998.721609
