Abstract
In this paper, a cooperative control of clutch and hydraulic control unit is proposed for the hill-start assist control (HAC) based on the autohold system in order to improve safety and ride comfort. The autohold system model is established as a linear system with bounded uncertainty and disturbance. Then, a novel disturbance-observer-based control is adopted based on an integrated feedforward-feedback compensation, of which the stability and robustness are guaranteed by the $H_\infty$ control theory. The feedforward compensation is recast to a nonlinear and multiobjective optimization problem with some constraints. Finally, the proposed method is verified by the experiments performed on a standard proving ground, and the main results are also provided.
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