Abstract
In this paper, a numerical modelling method is presented and a sliding mode controller is designed for the heavy-duty truck. Based on the off-line data, a numerical model is established which is a simpler third-order system compared to the traditional longitudinal dynamic model in which the engine model is needed to be considered. And then a sliding mode controller with excellent velocity tracking performance is designed. To verify tracking performances, simulations based on a typical heavy-duty truck in Trucksim are implemented and results conclude that the new model and control strategy are very effective.
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Lei, T., Li, M. (2021). Numerical Modelling and Velocity Tracking Control for Autonomous Heavy-Duty Trucks. In: Jia, Y., Zhang, W., Fu, Y. (eds) Proceedings of 2020 Chinese Intelligent Systems Conference. CISC 2020. Lecture Notes in Electrical Engineering, vol 706. Springer, Singapore. https://doi.org/10.1007/978-981-15-8458-9_30
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DOI: https://doi.org/10.1007/978-981-15-8458-9_30
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