Speed Tracking and Vehicle Follower Control Design for Heavy-Duty Vehicles

SUMMARY In this paper we address the problem of automation of heavy-duty vehicles. After a brief description of the dynamic model used in our design and simulations, we develop nonlinear controllers with adaptation, first for speed control and then for vehicle follower longitudinal control. We consider both autonomous operation as well as intervehicle communication, and evaluate the stability and performance properties of our controllers in several different scenarios through analysis and simulation. Notes ∗This research was supported in part by CalTrans through PATH MOU 124 and in part by NSF through Grants ECS-9309402 and ECS-9502945