Velocity tracking for a longitudinal vehicle control system on variable slope ramps

This paper proposes a velocity tracking method for one longitudinal vehicle control system based on a dual closed-loop scheme. There are some immeasurable forces that cause external disruptions in the longitudinal vehicle control system due to variable friction resistance and unpredictable slope ramps. A kinematic controller is provided for the outer loop to provide the desired velocity. It is suggested that the longitudinal vehicle control system use an integral sliding mode controller to track the goal velocity. The simulation results indicate that the velocity tracking approach of the longitudinal vehicle control system is successful.