Autocruise Control of a Heavy-Duty Truck with Robust Performance

Paper #:
  • 942329

Published:
  • 1994-11-01
Citation:
Kanoh, M., Hamatani, H., Inaba, T., and Matsuo, Y., "Autocruise Control of a Heavy-Duty Truck with Robust Performance," SAE Technical Paper 942329, 1994, https://doi.org/10.4271/942329.
Pages:
14
Abstract:
Robust performance control of an autocruise system for a heavy-duty truck is described. The controller design is carried out employing a loopshaping method, considering dynamics variation caused by the gear shift, the load changes, the vehicle speed and also the vibrational characteristics of the propulsion system as the plant uncertainty. Thereby a robust-stable controller is obtained without sacrificing the response to disturbances. Finally, nonlinear simulations and real vehicle experiments prove that the steady-state performance and its robustness excel the conventional PID's.
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