Abstract

Precision stopping is an important automated ve- hicle control function that is critical in applications such as precision bus docking and automated truck or bus fuelling. Such applications require specific attention to brake control since the characteristics of a typical pneumatic brake system of a heavy vehicle is inherently nonlinear with large uncertainties. This paper describes the precision stopping problem, details the Indirect Adaptive Robust Control (IARC) design for a bus with pneumatic brake system, and reports the successful implementation of a bus precision docking demonstration.

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