Model-Reference Longitudinal Control for Automated Vehicle Systems

Abstract

The problem of designing longitudinal control systems which provide acceleration and jerk limited response for automated vehicle systems is examined. Non-dimensional models of vehicles propelled by d-c traction motors are used to evaluate the feasibility of the model-reference control concept. Analytical and computer simulation techniques are used to evaluate performance and assure critical string behavioral characteristics - asymptotic string stability and fixed end-point speed transition region (proper curve negotiation).