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Adaptive model predictive control for co‐ordination of compression and friction brakes in heavy duty vehicles
Author(s) -
Vahidi Ardalan,
Stefanopoulou Anna,
Peng Huei
Publication year - 2006
Publication title -
international journal of adaptive control and signal processing
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.73
H-Index - 66
eISSN - 1099-1115
pISSN - 0890-6327
DOI - 10.1002/acs.917
Subject(s) - model predictive control , controller (irrigation) , control theory (sociology) , feed forward , actuator , adaptive control , computer science , engineering , automotive engineering , control (management) , control engineering , artificial intelligence , agronomy , biology
In this paper, an adaptive model predictive control scheme is designed for speed control of heavy vehicles. The controller co‐ordinates use of compression brakes and friction brakes on downhill slopes. Moreover, the model predictive controller takes the actuator constraints into account. A recursive least square scheme with forgetting is used in parallel with the controller to update the estimates of vehicle mass and road grade. The adaptation improved the model predictive controller. Also online estimation of the road grade enhanced the closed‐loop performance further by contributing through feedforward control. Simulations of realistic driving scenarios with a validated longitudinal vehicle model are used throughout this paper to illustrate the benefits of co‐ordinating the two braking mechanisms and influence of unknown vehicle mass and road grade. Copyright © 2006 John Wiley & Sons, Ltd.