A Real-Time Robust Ecological-Adaptive Cruise Control Strategy for Battery Electric Vehicles
| Autor: | Yu, Sheng, Pan, Xiao, Georgiou, Anastasis, Chen, Boli, Jaimoukha, Imad M., Evangelou, Simos A. |
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| Rok vydání: | 2023 |
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| Druh dokumentu: | Working Paper |
| Popis: | This work addresses the ecological-adaptive cruise control problem for connected electric vehicles by a computationally efficient robust control strategy. The problem is formulated in the space-domain with a realistic description of the nonlinear electric powertrain model and motion dynamics to yield a convex optimal control problem (OCP). The OCP is approached by a novel robust model predictive control (RMPC) method handling various disturbances due to modelling mismatch and inaccurate leading vehicle information. The RMPC problem is solved by semi-definite programming relaxation and single linear matrix inequality (sLMI) techniques for further enhanced computational efficiency. The performance of the proposed real-time robust ecological-adaptive cruise control (REACC) method is evaluated using an experimentally collected driving cycle. Its robustness is verified by comparison with a nominal MPC which is shown to result in speed-limit constraint violations. The energy economy of the proposed method outperforms a state-of-the-art time-domain RMPC scheme, as a more precisely fitted convex powertrain model can be integrated into the space-domain scheme. The additional comparison with a traditional constant distance following strategy (CDFS) further verifies the effectiveness of the proposed REACC. Finally, it is verified that the REACC can be potentially implemented in real-time owing to the sLMI and resulting convex algorithm. Comment: 15 pages, 12 figures and 2 tables. This work has been submitted to the IEEE for possible publication. Copyright may be transferred without notice, after which this version may no longer be accessible |
| Databáze: | arXiv |
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