Vehicle creep control based on nonlinear robust method for dual-clutch transmission

Abstract

This article proposed a nonlinear robust controller to achieve vehicle creep for dual-clutch transmission. The control problem is summarized as the tracking control, and linear quadratic approach is adopted to define the trajectory of the clutch slip before the controller design. The control scheme is derived from an error affine nonlinear system; meanwhile, by combining nonlinear H∞ method with the backstepping technique, the nonlinear controller is programmed to achieve the tracking of the clutch slip trajectory against the model uncertainties or disturbance. The designed controller is evaluated by simulation model including the dynamic powertrain and hydraulic actuator model, and the results show that the nonlinear controller is effective in clutch slip tracking control and has better control performance than that of the proportional–integral–derivative in terms of disturbance attenuation.