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

Abstract

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.

Keywords:

• nonlinear disturbance decoupling via static state feedback
• vehicle longitudinal dynamics
• SG cruise system

Acknowledgements

This work was supported by the Advanced ITS Group, Isuzu Motors Limited.