Experimental Comparison of NonlinearControl Strategies for Vehicle Speed
نویسندگان
چکیده
This paper describes an experimental comparison of two alternative nonlinear automotive speed control systems. The rst approach is based on interpolation of multiple linear controllers designed using multiple local linear models. The second approach is based upon geometric nonlinear control theory and utilises feedback linearisation. This paper focuses on engineering aspects and experimental comparison in a test vehicle. The controllers are tested in a range of speed-proole tracking tasks, and in a disturbance rejection task (the vehicle is driven up a 10% slope). For comparison , linear PI/PID controllers are implemented.
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تاریخ انتشار 2007