DocumentCode
313125
Title
Longitudinal control of heavy vehicles with air brake actuation delays
Author
Yanakiev, D. ; Eyre, J. ; Kanellakopoulos, I.
Author_Institution
Dept. of Electr. Eng., California Univ., Los Angeles, CA, USA
Volume
3
fYear
1997
fDate
4-6 Jun 1997
Firstpage
1613
Abstract
We present adaptive nonlinear longitudinal controllers designed for automated commercial heavy vehicles (CHVs), which take into account the large actuator delays inherent in the air braking system. After a description of the dynamics of air brakes and delay sources, we present a new controller designed using the backstepping technique. We conclude with a simulation results which illustrate the effectiveness of our controller
Keywords
actuators; adaptive control; brakes; control system synthesis; delays; nonlinear control systems; pneumatic control equipment; road vehicles; CHV; actuator delays; adaptive nonlinear longitudinal control; air brake actuation delays; air brake dynamics; automated commercial heavy vehicles; backstepping; controller design; Actuators; Adaptive control; Automatic control; Backstepping; Control systems; Delay; Nonlinear control systems; Nonlinear dynamical systems; Programmable control; Vehicle dynamics;
fLanguage
English
Publisher
ieee
Conference_Titel
American Control Conference, 1997. Proceedings of the 1997
Conference_Location
Albuquerque, NM
ISSN
0743-1619
Print_ISBN
0-7803-3832-4
Type
conf
DOI
10.1109/ACC.1997.610856
Filename
610856
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