In this paper we present further results on adaptive compression braking control for a Class-8 heavy duty vehicle with the objective to achieve good and consistent vehicle speed tracking performance during large variation in vehicle mass (payload) and road grade. In our previous work the adaptive controller performance was tested in simulations on a reduced order nonlinear vehicle/engine model. In this paper, we include several modifications to deal with actuator saturation and unmodeled dynamics. The final version of the controller is successfully evaluated on a high order crankangle model. Good tracking performance during braking as well as estimation properties of the algorithm for vehicle mass and road grade are confirmed. Moreover, the stability and response properties of the overall scheme are rigorously analyzed.

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