Longitudinal acceleration tracking control of vehicular stop-and-go cruise control system

Abstract

In this paper, a Model Matching Control (MMC) controller based on Sliding Mode Control (SMC) method is proposed for longitudinal acceleration tracking control of vehicular stop-and-go cruise control system. After investigating the nonlinearities of the vehicle acceleration response on low-speed condition, a nominal trans-function model of the vehicle longitudinal dynamic system is obtained with the LMS system identification technique. Using this nominal trans-function model, the MMC controller, including a SMC feedback compensator, is designed. It can combine the advantage of the two control methods, control robustness and rapid response. Compared with conventional MMC controller based on the PID method, the simulation results show that the proposed controller not only enhances the rapid tracking capability of vehicle acceleration effectively but also improves the system's robustness on low-speed condition.