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
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;
Conference_Titel :
American Control Conference, 1997. Proceedings of the 1997
Conference_Location :
Albuquerque, NM
Print_ISBN :
0-7803-3832-4
DOI :
10.1109/ACC.1997.610856
