Gear-shift control is essential in automated manual transmission (AMT) systems, because it has a significant influence on comfort of vehicle and lifespan of AMT. Gear engagement process is the most important part of gear-shift process, and it has multistage and nonlinear characteristics, which make it difficult to realize smooth and fast control. This paper proposes a position and force switching control scheme for gear engagement. At the beginning and the end of gear engagement process, the combination sleeve is supposed to reach the desired position quickly with a small resistance for which a position controller is designed by using sliding mode control (SMC) method. A force controller is designed for the midsynchronizing stage, because the combination sleeve is blocked at this stage until the synchronization is finished. Simulations and experiments are carried out to show that gear-shift quality is improved and gear-shift shock is reduced greatly by the proposed method.

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