Modelling and control of a non-linear dynamic system for heavy-duty trucks

In this paper, modelling and control of the non-linear longitudinal dynamic system for heavy-duty trucks are implemented. Based on the non-linear model, feedback linearization is employed to convert the non-linear system to a linear canonical form. Owing to the influence of the control variable time delay in the non-linear brake subsystem, an extended feedback linearization based on the non-linear Smith predictive method is proposed, which not only compensates for the control variable time delay effectively but also makes the non-linear system behave like a linear system. Finally, a tracking control algorithm is investigated for the linear canonical form to obtain more precise acceleration/deceleration tracking under low-speed conditions.