Robust velocity tracking control of general types of vehicles with arbitrary traction and braking configurations
by Meihua Tai, Masayoshi Tomizuka
International Journal of Vehicle Design (IJVD), Vol. 36, No. 1, 2004

Abstract: A longitudinal control model for general types of vehicle systems with arbitrary numbers of units is formulated. By introducing the concept of effective angular velocity, the model considers arbitrary configurations of an active set of traction wheels and an active set of braking wheels. It is assumed that inner-loop controllers are already designed for both traction actuators and braking actuators. The local closed-loop dynamics are approximated by linear first order systems with model uncertainty. Due to the discontinuity in the tyre longitudinal slip model, the vehicle longitudinal control model admits two different operating modes: traction mode and braking mode. For each mode, a robust backstepping controller is designed and the robustness is shown by simulation.

Online publication date: Tue, 21-Sep-2004

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