In this paper, an adaptive model predictive control scheme is designed for speed control of heavy vehicles. The controller coordinates use of compression brakes and friction brakes on downhill slopes. Moreover the model predictive controller takes the actuator constraints into account. It is shown that accurate estimate of mass is necessary for safe and comfortable operation in closed-loop. Also knowledge of the road grade improves the results further by contributing in feedforward control. Therefore a recursive least square scheme with forgetting is used in parallel with the controller to update the estimates of mass and road grade. The mass and grade estimates converged to their actual values when rich excitations were provided. As a result the adaptation improved the closed-loop performance.

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